{
    "0": {
        "acceleration": [
            0.0060363346710801125,
            -0.005075128749012947,
            -0.4587481915950775
        ],
        "angular_velocity": [
            0.030075618997216225,
            -0.02306237258017063,
            0.00017125086742453277
        ],
        "forward_vector": [
            -0.9871125817298889,
            -0.15972617268562317,
            -0.009806117974221706
        ],
        "right_vector": [
            0.15973350405693054,
            -0.9871601462364197,
            3.6749810533365235e-05
        ],
        "location": [
            3041.289306640625,
            4270.37890625,
            361.689208984375
        ],
        "rotation": [
            -0.00210571032948792,
            -0.5618581771850586,
            -170.8085479736328
        ],
        "velocity": [
            -0.0009543303167447448,
            -0.0003809062181971967,
            0.09210845082998276
        ],
        "speed": 0.001027538758645831,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.363525390625,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.71343994140625
            ],
            "velocity": [
                -0.0019226723816245794,
                -0.0007519387872889638,
                0.19042380154132843
            ],
            "speed_kmh": 0.6855659721115368,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.24077428877353668,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.2333984375,
                        "z": 360.5396728515625
                    },
                    "rotation": {
                        "roll": -0.0413207933306694,
                        "pitch": -0.35467803478240967,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0014019411755725741,
                    "y": 0.000397561932913959,
                    "z": 0.2407698780298233
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5516078472137451,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19189453125,
                        "z": 360.5760803222656
                    },
                    "rotation": {
                        "roll": -0.1606139838695526,
                        "pitch": -0.31033647060394287,
                        "yaw": -170.80868530273438
                    }
                },
                "velocity": {
                    "x": -0.0038308007642626762,
                    "y": 0.0004286741022951901,
                    "z": 0.5515943765640259
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.190434992313385,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.71343994140625
                    },
                    "rotation": {
                        "roll": -0.01031493954360485,
                        "pitch": -0.3865955173969269,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0019226723816245794,
                    "y": -0.0007519387872889638,
                    "z": 0.19042380154132843
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0014240071177482605,
        "expert_target_speed": 1.2909384477591477,
        "target_point": [
            51.00126253261876,
            -0.0001632661702881677
        ],
        "target_point_next": [
            102.00132003586533,
            -0.0001315443112410719
        ]
    },
    "5": {
        "acceleration": [
            0.0023112609051167965,
            0.0014394610188901424,
            -0.15324953198432922
        ],
        "angular_velocity": [
            0.0016498849727213383,
            0.005026060156524181,
            -0.0002120133867720142
        ],
        "forward_vector": [
            -0.9871120452880859,
            -0.1597260981798172,
            -0.009860951453447342
        ],
        "right_vector": [
            0.159733846783638,
            -0.9871600866317749,
            1.5977419707269291e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.701904296875
        ],
        "rotation": [
            -9.15483251446858e-05,
            -0.565000057220459,
            -170.8085479736328
        ],
        "velocity": [
            -0.00028660803218372166,
            2.2289937987807207e-05,
            0.025030633434653282
        ],
        "speed": 0.00028747348651262696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00118637084961,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3026.481201171875,
                4267.98291015625,
                361.5534362792969
            ],
            "velocity": [
                0.004762557800859213,
                0.0006828170735388994,
                -0.5044792294502258
            ],
            "speed_kmh": 1.8162078177369525,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2961.61767578125,
                        "y": 4267.36376953125,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2962.137451171875,
                        "y": 4264.1552734375,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045021772384644,
                "transform": {
                    "location": {
                        "x": 3026.481201171875,
                        "y": 4267.98291015625,
                        "z": 361.5534362792969
                    },
                    "rotation": {
                        "roll": -0.00018310283485334367,
                        "pitch": -0.5491676926612854,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.004762557800859213,
                    "y": 0.0006828170735388994,
                    "z": -0.5044792294502258
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.455066442489624,
                "transform": {
                    "location": {
                        "x": 3011.674072265625,
                        "y": 4265.5869140625,
                        "z": 361.419677734375
                    },
                    "rotation": {
                        "roll": 0.00015518019790761173,
                        "pitch": -0.5383281707763672,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": 0.004200247582048178,
                    "y": 0.000650207104627043,
                    "z": -0.4550465941429138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.364077091217041,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.5650329589844
                    },
                    "rotation": {
                        "roll": 0.000488504592794925,
                        "pitch": -0.5521524548530579,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": 0.00338608562014997,
                    "y": 0.0007356457062996924,
                    "z": -0.3640606105327606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.356072336435318,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.42388916015625
                    },
                    "rotation": {
                        "roll": 0.0005292667774483562,
                        "pitch": -0.5438196063041687,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.0031395223923027515,
                    "y": 0.000909786147531122,
                    "z": -0.3560573160648346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.1474796086549759,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.59326171875
                    },
                    "rotation": {
                        "roll": -0.02111816219985485,
                        "pitch": -0.38360390067100525,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": -0.0013160544913262129,
                    "y": -0.001038128393702209,
                    "z": 0.14747008681297302
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.21454717218875885,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6854248046875
                    },
                    "rotation": {
                        "roll": -0.0321350060403347,
                        "pitch": -0.3852567970752716,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0014752420829609036,
                    "y": -0.0052722482942044735,
                    "z": 0.2144773006439209
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.039306823164224625,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7379150390625
                    },
                    "rotation": {
                        "roll": -0.0023193336091935635,
                        "pitch": -0.414790540933609,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -0.0003704605042003095,
                    "y": -0.00045210443204268813,
                    "z": 0.03930247575044632
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005830478621646762,
        "expert_target_speed": 1.030966078769612,
        "target_point": [
            51.00102152679778,
            -9.994938225332817e-05
        ],
        "target_point_next": [
            102.00107903002343,
            -4.3908800719805186e-05
        ]
    },
    "10": {
        "acceleration": [
            -0.0005987047916278243,
            5.248344677966088e-05,
            -0.04257002845406532
        ],
        "angular_velocity": [
            0.009027048014104366,
            -0.00731928925961256,
            -7.861993071855977e-05
        ],
        "forward_vector": [
            -0.9871120452880859,
            -0.1597253680229187,
            -0.00988181121647358
        ],
        "right_vector": [
            0.15973304212093353,
            -0.9871602058410645,
            1.2782576959580183e-05
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7052001953125
        ],
        "rotation": [
            -0.0007324234466068447,
            -0.5661953091621399,
            -170.80859375
        ],
        "velocity": [
            -0.00011174372775712982,
            -3.70781563105993e-05,
            0.0061319563537836075
        ],
        "speed": 0.00011773466086269064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.001067161560059,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3026.4814453125,
                4267.98291015625,
                361.5449523925781
            ],
            "velocity": [
                -0.000992358080111444,
                -0.00012016898108413443,
                0.10234546661376953
            ],
            "speed_kmh": 0.3684612530780852,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2963.671142578125,
                        "y": 4267.6962890625,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2964.191162109375,
                        "y": 4264.48779296875,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10235034674406052,
                "transform": {
                    "location": {
                        "x": 3026.4814453125,
                        "y": 4267.98291015625,
                        "z": 361.5449523925781
                    },
                    "rotation": {
                        "roll": -0.0007019009790383279,
                        "pitch": -0.5498985052108765,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.000992358080111444,
                    "y": -0.00012016898108413443,
                    "z": 0.10234546661376953
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09450289607048035,
                "transform": {
                    "location": {
                        "x": 3011.674072265625,
                        "y": 4265.5869140625,
                        "z": 361.41253662109375
                    },
                    "rotation": {
                        "roll": 0.00017831647710409015,
                        "pitch": -0.537720263004303,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.0008979752310551703,
                    "y": -0.00017542477871757,
                    "z": 0.09449846297502518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04393433406949043,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.5573425292969
                    },
                    "rotation": {
                        "roll": 0.000989869819022715,
                        "pitch": -0.5529789328575134,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00042314169695600867,
                    "y": -9.701537055661902e-05,
                    "z": 0.04393218830227852
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.044446367770433426,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.41644287109375
                    },
                    "rotation": {
                        "roll": 0.0006590163102373481,
                        "pitch": -0.5449807643890381,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": -0.0005190371884964406,
                    "y": 0.00019512142171151936,
                    "z": 0.044442906975746155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.044541582465171814,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.6148681640625
                    },
                    "rotation": {
                        "roll": -0.007690429221838713,
                        "pitch": -0.40509167313575745,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.00045069484622217715,
                    "y": -0.00032195154926739633,
                    "z": 0.044538140296936035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.08093851804733276,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19189453125,
                        "z": 360.6913146972656
                    },
                    "rotation": {
                        "roll": 0.011635261587798595,
                        "pitch": -0.4282255172729492,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 0.0004981246893294156,
                    "y": 0.00020632475207094103,
                    "z": -0.0809367224574089
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.006377216894179583,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0003674694162327796,
                        "pitch": -0.42099234461784363,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -0.00010093949822476134,
                    "y": -9.142316412180662e-05,
                    "z": 0.0063757626339793205
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00048477400559931993,
        "expert_target_speed": 1.0114998189740563,
        "target_point": [
            51.001021526869906,
            -5.13110179127807e-05
        ],
        "target_point_next": [
            102.00107903001893,
            5.336700859714938e-05
        ]
    },
    "15": {
        "acceleration": [
            0.0008400813676416874,
            0.00026883630198426545,
            0.0013241078704595566
        ],
        "angular_velocity": [
            0.010840758681297302,
            0.0016893057618290186,
            -3.522275392242591e-06
        ],
        "forward_vector": [
            -0.9871119856834412,
            -0.1597253531217575,
            -0.009887652471661568
        ],
        "right_vector": [
            0.1597331464290619,
            -0.9871602058410645,
            1.5978002920746803e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7056884765625
        ],
        "rotation": [
            -9.155168663710356e-05,
            -0.5665299892425537,
            -170.80859375
        ],
        "velocity": [
            -4.238426481606439e-05,
            -3.2191128411795944e-05,
            0.001793517149053514
        ],
        "speed": 5.322306504160588e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.0011568069458,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3026.481201171875,
                4267.98291015625,
                361.5602722167969
            ],
            "velocity": [
                -0.00022678643290419132,
                -8.318420441355556e-05,
                0.02296041138470173
            ],
            "speed_kmh": 0.08266205538685627,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2965.7265625,
                        "y": 4268.0283203125,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2966.24658203125,
                        "y": 4264.81982421875,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.022961681708693504,
                "transform": {
                    "location": {
                        "x": 3026.481201171875,
                        "y": 4267.98291015625,
                        "z": 361.5602722167969
                    },
                    "rotation": {
                        "roll": -0.0003356885281391442,
                        "pitch": -0.5491949915885925,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.00022678643290419132,
                    "y": -8.318420441355556e-05,
                    "z": 0.02296041138470173
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020868975669145584,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.4264831542969
                    },
                    "rotation": {
                        "roll": 4.338761937106028e-05,
                        "pitch": -0.5379320383071899,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00021798610396217555,
                    "y": -2.889973984565586e-05,
                    "z": 0.020867817103862762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0707765817642212,
                "transform": {
                    "location": {
                        "x": 3025.880126953125,
                        "y": 4271.1767578125,
                        "z": 361.5633850097656
                    },
                    "rotation": {
                        "roll": -0.004150387365370989,
                        "pitch": -0.41785046458244324,
                        "yaw": -170.786376953125
                    }
                },
                "velocity": {
                    "x": -1.054909348487854,
                    "y": -0.18365205824375153,
                    "z": 0.0008309745462611318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2758172750473022,
                "transform": {
                    "location": {
                        "x": 3011.0380859375,
                        "y": 4268.77490234375,
                        "z": 361.42193603515625
                    },
                    "rotation": {
                        "roll": -0.010437010787427425,
                        "pitch": -0.3359086811542511,
                        "yaw": -170.71961975097656
                    }
                },
                "velocity": {
                    "x": -1.2566906213760376,
                    "y": -0.22008700668811798,
                    "z": 0.0003253936592955142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.010986818000674248,
                "transform": {
                    "location": {
                        "x": 2916.712646484375,
                        "y": 4249.23388671875,
                        "z": 360.620849609375
                    },
                    "rotation": {
                        "roll": -0.0023498593363910913,
                        "pitch": -0.4119901657104492,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -9.239181963494048e-05,
                    "y": -0.00012793713540304452,
                    "z": 0.01098568458110094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.041410237550735474,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19189453125,
                        "z": 360.6731262207031
                    },
                    "rotation": {
                        "roll": 0.001862703706137836,
                        "pitch": -0.41930529475212097,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.00032595591619610786,
                    "y": 0.0003266420972067863,
                    "z": -0.041407667100429535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0009025975596159697,
        "expert_target_speed": 1.007075161482552,
        "target_point": [
            51.001021526869906,
            -5.13110179127807e-05
        ],
        "target_point_next": [
            102.00107903001893,
            5.336700859714938e-05
        ]
    },
    "20": {
        "acceleration": [
            0.0004399478202685714,
            -0.0012099436717107892,
            -0.02086365409195423
        ],
        "angular_velocity": [
            -0.0019107824191451073,
            5.838260767632164e-05,
            -0.0001337518624495715
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009887652471661568
        ],
        "right_vector": [
            0.15973146259784698,
            -0.9871605038642883,
            4.260917194187641e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7059326171875
        ],
        "rotation": [
            -0.00024414449580945075,
            -0.5665299892425537,
            -170.80868530273438
        ],
        "velocity": [
            -3.3510103094158694e-05,
            7.563214694528142e-06,
            0.00046450167428702116
        ],
        "speed": 3.435300897878773e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.208573341369629,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3026.27685546875,
                4267.947265625,
                361.5594787597656
            ],
            "velocity": [
                -1.9323514699935913,
                -0.3433338403701782,
                -0.019465522840619087
            ],
            "speed_kmh": 7.06576397143119,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2967.78271484375,
                        "y": 4268.361328125,
                        "z": 361.041015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2968.302978515625,
                        "y": 4265.1533203125,
                        "z": 361.0410461425781
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9627121686935425,
                "transform": {
                    "location": {
                        "x": 3026.27685546875,
                        "y": 4267.947265625,
                        "z": 361.5594787597656
                    },
                    "rotation": {
                        "roll": -0.0025329599156975746,
                        "pitch": -0.5103722214698792,
                        "yaw": -170.71743774414062
                    }
                },
                "velocity": {
                    "x": -1.9323514699935913,
                    "y": -0.3433338403701782,
                    "z": -0.019465522840619087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2169151306152344,
                "transform": {
                    "location": {
                        "x": 3011.440673828125,
                        "y": 4265.54638671875,
                        "z": 361.42718505859375
                    },
                    "rotation": {
                        "roll": 0.006752714514732361,
                        "pitch": -0.7285762429237366,
                        "yaw": -170.6712188720703
                    }
                },
                "velocity": {
                    "x": -2.1817798614501953,
                    "y": -0.39253324270248413,
                    "z": -0.021620478481054306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.220940113067627,
                "transform": {
                    "location": {
                        "x": 3025.46484375,
                        "y": 4271.1044921875,
                        "z": 361.5607604980469
                    },
                    "rotation": {
                        "roll": -0.008666993118822575,
                        "pitch": -0.3765551447868347,
                        "yaw": -170.58702087402344
                    }
                },
                "velocity": {
                    "x": -2.1877493858337402,
                    "y": -0.3820582628250122,
                    "z": -0.018962930887937546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6607043743133545,
                "transform": {
                    "location": {
                        "x": 3010.548095703125,
                        "y": 4268.68896484375,
                        "z": 361.4186096191406
                    },
                    "rotation": {
                        "roll": -0.012542721815407276,
                        "pitch": -0.2660222053527832,
                        "yaw": -170.50900268554688
                    }
                },
                "velocity": {
                    "x": -2.6204473972320557,
                    "y": -0.4605446457862854,
                    "z": -0.02238493785262108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0032922616228461266,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6222839355469
                    },
                    "rotation": {
                        "roll": -0.0005493176286108792,
                        "pitch": -0.4144285321235657,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -3.34379801643081e-05,
                    "y": -5.3034811571706086e-05,
                    "z": 0.003291664645075798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0004180164833087474,
        "expert_target_speed": 1.0181013563480332,
        "target_point": [
            51.00102152689113,
            2.1646528598040504e-05
        ],
        "target_point_next": [
            102.00107902983822,
            0.00019928072257258123
        ]
    },
    "25": {
        "acceleration": [
            0.0003891289234161377,
            0.0009112158440984786,
            -0.0065496074967086315
        ],
        "angular_velocity": [
            -0.0077561670914292336,
            0.005780157167464495,
            -0.00019606701971497387
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009887652471661568
        ],
        "right_vector": [
            0.15973149240016937,
            -0.9871605038642883,
            2.1304001620592317e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.70599365234375
        ],
        "rotation": [
            -0.00012206890824018046,
            -0.5665299892425537,
            -170.80868530273438
        ],
        "velocity": [
            -2.0998417312512174e-05,
            1.3433153981168289e-05,
            0.0014232239918783307
        ],
        "speed": 2.4927558153822217e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.848674774169922,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3025.646240234375,
                4267.83740234375,
                361.55316162109375
            ],
            "velocity": [
                -2.962007761001587,
                -0.5298404693603516,
                -0.029160695150494576
            ],
            "speed_kmh": 10.83299235390208,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2969.83935546875,
                        "y": 4268.6943359375,
                        "z": 361.05279541015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2970.359375,
                        "y": 4265.486328125,
                        "z": 361.0528564453125
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.009164571762085,
                "transform": {
                    "location": {
                        "x": 3025.646240234375,
                        "y": 4267.83740234375,
                        "z": 361.55316162109375
                    },
                    "rotation": {
                        "roll": -0.006072999909520149,
                        "pitch": -0.518220067024231,
                        "yaw": -170.4591827392578
                    }
                },
                "velocity": {
                    "x": -2.962007761001587,
                    "y": -0.5298404693603516,
                    "z": -0.029160695150494576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3706016540527344,
                "transform": {
                    "location": {
                        "x": 3010.740966796875,
                        "y": 4265.42236328125,
                        "z": 361.4198303222656
                    },
                    "rotation": {
                        "roll": 0.0007109696744009852,
                        "pitch": -0.6776708364486694,
                        "yaw": -170.41053771972656
                    }
                },
                "velocity": {
                    "x": -3.3171138763427734,
                    "y": -0.5972509384155273,
                    "z": -0.03166945278644562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8021605014801025,
                "transform": {
                    "location": {
                        "x": 3024.724365234375,
                        "y": 4270.97607421875,
                        "z": 361.55377197265625
                    },
                    "rotation": {
                        "roll": -0.0010681189596652985,
                        "pitch": -0.31863513588905334,
                        "yaw": -170.4113311767578
                    }
                },
                "velocity": {
                    "x": -3.748171091079712,
                    "y": -0.6375135183334351,
                    "z": -0.034850649535655975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.276128768920898,
                "transform": {
                    "location": {
                        "x": 3009.68115234375,
                        "y": 4268.53955078125,
                        "z": 361.41058349609375
                    },
                    "rotation": {
                        "roll": -0.0008544932934455574,
                        "pitch": -0.21530121564865112,
                        "yaw": -170.3840789794922
                    }
                },
                "velocity": {
                    "x": -4.215212821960449,
                    "y": -0.7180745005607605,
                    "z": -0.040362246334552765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0014815761242061853,
        "expert_target_speed": 1.0413923381114203,
        "target_point": [
            51.00102152689113,
            2.1646528598040504e-05
        ],
        "target_point_next": [
            102.00107902983822,
            0.00019928072257258123
        ]
    },
    "30": {
        "acceleration": [
            -3.7416612030938268e-06,
            0.00014071966870687902,
            0.004111055750399828
        ],
        "angular_velocity": [
            0.0019104272359982133,
            0.001724286237731576,
            -0.0001046161341946572
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009887652471661568
        ],
        "right_vector": [
            0.15973149240016937,
            -0.9871605038642883,
            2.1304001620592317e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7060546875
        ],
        "rotation": [
            -0.00012206890824018046,
            -0.5665299892425537,
            -170.80868530273438
        ],
        "velocity": [
            -2.9801502023474313e-05,
            -6.491821295639966e-06,
            0.0006822063587605953
        ],
        "speed": 3.0500381417117856e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.70713233947754,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3024.800048828125,
                4267.69287109375,
                361.5449523925781
            ],
            "velocity": [
                -3.7601318359375,
                -0.6425195336341858,
                -0.0361320786178112
            ],
            "speed_kmh": 13.733293807088428,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.96712589263916,
                "transform": {
                    "location": {
                        "x": 2971.853271484375,
                        "y": 4269.02001953125,
                        "z": 361.06988525390625
                    },
                    "rotation": {
                        "roll": -0.008819584734737873,
                        "pitch": 0.32405829429626465,
                        "yaw": 9.208772659301758
                    }
                },
                "velocity": {
                    "x": 6.875768184661865,
                    "y": 1.123011589050293,
                    "z": 0.059131018817424774
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.632436275482178,
                "transform": {
                    "location": {
                        "x": 2972.29638671875,
                        "y": 4265.7998046875,
                        "z": 361.0679931640625
                    },
                    "rotation": {
                        "roll": -0.0020141585264354944,
                        "pitch": 0.465743750333786,
                        "yaw": 9.21064567565918
                    }
                },
                "velocity": {
                    "x": 6.544675827026367,
                    "y": 1.0748974084854126,
                    "z": 0.032002534717321396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8148038387298584,
                "transform": {
                    "location": {
                        "x": 3024.800048828125,
                        "y": 4267.69287109375,
                        "z": 361.5449523925781
                    },
                    "rotation": {
                        "roll": -0.004028318449854851,
                        "pitch": -0.5283219218254089,
                        "yaw": -170.38343811035156
                    }
                },
                "velocity": {
                    "x": -3.7601318359375,
                    "y": -0.6425195336341858,
                    "z": -0.0361320786178112
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.5144548416137695,
                "transform": {
                    "location": {
                        "x": 3009.763671875,
                        "y": 4265.25634765625,
                        "z": 361.4103088378906
                    },
                    "rotation": {
                        "roll": -0.006073000840842724,
                        "pitch": -0.648765504360199,
                        "yaw": -170.37416076660156
                    }
                },
                "velocity": {
                    "x": -4.449728488922119,
                    "y": -0.7605475187301636,
                    "z": -0.04225144907832146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.234466552734375,
                "transform": {
                    "location": {
                        "x": 3023.599609375,
                        "y": 4270.78466796875,
                        "z": 361.5431213378906
                    },
                    "rotation": {
                        "roll": -0.004760740790516138,
                        "pitch": -0.32006949186325073,
                        "yaw": -170.35670471191406
                    }
                },
                "velocity": {
                    "x": -5.159811973571777,
                    "y": -0.8797065615653992,
                    "z": -0.045793838798999786
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.466133117675781,
                "transform": {
                    "location": {
                        "x": 3008.450927734375,
                        "y": 4268.330078125,
                        "z": 361.3992614746094
                    },
                    "rotation": {
                        "roll": -0.004272462334483862,
                        "pitch": -0.26089954376220703,
                        "yaw": -170.369384765625
                    }
                },
                "velocity": {
                    "x": -5.388106346130371,
                    "y": -0.9189085364341736,
                    "z": -0.05028335377573967
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00015474822430405766,
        "expert_target_speed": 1.0639446869689173,
        "target_point": [
            51.00102152689113,
            2.1646528598040504e-05
        ],
        "target_point_next": [
            102.00107902983822,
            0.00019928072257258123
        ]
    },
    "35": {
        "acceleration": [
            -0.00020087958546355367,
            -0.0015115748392418027,
            0.0005327444523572922
        ],
        "angular_velocity": [
            0.01598108373582363,
            -0.0006408275221474469,
            5.7985202147392556e-05
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009887652471661568
        ],
        "right_vector": [
            0.15973149240016937,
            -0.9871605038642883,
            2.1304001620592317e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7060546875
        ],
        "rotation": [
            -0.00012206890824018046,
            -0.5665299892425537,
            -170.80868530273438
        ],
        "velocity": [
            -4.503361924435012e-05,
            -5.887002407689579e-05,
            0.0015613255091011524
        ],
        "speed": 7.411954261231913e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.75881576538086,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3023.763427734375,
                4267.515625,
                361.534912109375
            ],
            "velocity": [
                -4.507760047912598,
                -0.7704927921295166,
                -0.04376163333654404
            ],
            "speed_kmh": 16.464038215210547,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.653992652893066,
                "transform": {
                    "location": {
                        "x": 2973.522705078125,
                        "y": 4269.30322265625,
                        "z": 361.08453369140625
                    },
                    "rotation": {
                        "roll": -0.02838134579360485,
                        "pitch": 0.3763639032840729,
                        "yaw": 9.601117134094238
                    }
                },
                "velocity": {
                    "x": 6.556883335113525,
                    "y": 1.1311572790145874,
                    "z": 0.058156535029411316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.81935977935791,
                "transform": {
                    "location": {
                        "x": 2973.95556640625,
                        "y": 4266.078125,
                        "z": 361.0783996582031
                    },
                    "rotation": {
                        "roll": -0.0006713876500725746,
                        "pitch": 0.49240195751190186,
                        "yaw": 9.568653106689453
                    }
                },
                "velocity": {
                    "x": 6.719223976135254,
                    "y": 1.1631253957748413,
                    "z": 0.05326952785253525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.573343753814697,
                "transform": {
                    "location": {
                        "x": 3023.763427734375,
                        "y": 4267.515625,
                        "z": 361.534912109375
                    },
                    "rotation": {
                        "roll": -0.004882817156612873,
                        "pitch": -0.5303983092308044,
                        "yaw": -170.34494018554688
                    }
                },
                "velocity": {
                    "x": -4.507760047912598,
                    "y": -0.7704927921295166,
                    "z": -0.04376163333654404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.200260162353516,
                "transform": {
                    "location": {
                        "x": 3008.527099609375,
                        "y": 4265.04541015625,
                        "z": 361.39862060546875
                    },
                    "rotation": {
                        "roll": -0.005310059990733862,
                        "pitch": -0.6141296029090881,
                        "yaw": -170.34324645996094
                    }
                },
                "velocity": {
                    "x": -5.125929355621338,
                    "y": -0.8747981190681458,
                    "z": -0.04777350276708603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.452853679656982,
                "transform": {
                    "location": {
                        "x": 3022.2724609375,
                        "y": 4270.55810546875,
                        "z": 361.5301208496094
                    },
                    "rotation": {
                        "roll": -0.00573729770258069,
                        "pitch": -0.4612153172492981,
                        "yaw": -170.33949279785156
                    }
                },
                "velocity": {
                    "x": -5.374703884124756,
                    "y": -0.9183964133262634,
                    "z": -0.052155617624521255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.896831512451172,
                "transform": {
                    "location": {
                        "x": 3007.032470703125,
                        "y": 4268.08837890625,
                        "z": 361.3857421875
                    },
                    "rotation": {
                        "roll": -0.0005188004579395056,
                        "pitch": -0.4045657515525818,
                        "yaw": -170.44606018066406
                    }
                },
                "velocity": {
                    "x": -5.813152313232422,
                    "y": -0.9883472919464111,
                    "z": -0.055228136479854584
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00013581907842308283,
        "expert_target_speed": 1.0868781330102246,
        "target_point": [
            51.00102152689113,
            2.1646528598040504e-05
        ],
        "target_point_next": [
            102.00107902983822,
            0.00019928072257258123
        ]
    },
    "40": {
        "acceleration": [
            0.0007439017645083368,
            6.631053111050278e-05,
            0.009763135574758053
        ],
        "angular_velocity": [
            0.0018019904382526875,
            -0.0031461420003324747,
            -0.00012148523819632828
        ],
        "forward_vector": [
            -0.987112283706665,
            -0.159723699092865,
            -0.009887652471661568
        ],
        "right_vector": [
            0.15973149240016937,
            -0.9871605038642883,
            2.1304001620592317e-06
        ],
        "location": [
            3041.2890625,
            4270.37890625,
            361.7060546875
        ],
        "rotation": [
            -0.00012206890824018046,
            -0.5665299892425537,
            -170.80868530273438
        ],
        "velocity": [
            -4.4689251808449626e-05,
            -1.0508569175726734e-05,
            0.0006980808102525771
        ],
        "speed": 4.590816107534751e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.002599716186523,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3022.537353515625,
                4267.306640625,
                361.5232849121094
            ],
            "velocity": [
                -5.1306352615356445,
                -0.8772515654563904,
                -0.04920608550310135
            ],
            "speed_kmh": 18.7391704769388,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.830872058868408,
                "transform": {
                    "location": {
                        "x": 2975.185302734375,
                        "y": 4269.591796875,
                        "z": 361.0993347167969
                    },
                    "rotation": {
                        "roll": 0.0011778458720073104,
                        "pitch": 0.4829353392124176,
                        "yaw": 9.81733512878418
                    }
                },
                "velocity": {
                    "x": 6.731836795806885,
                    "y": 1.1573946475982666,
                    "z": 0.060207366943359375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5527143478393555,
                "transform": {
                    "location": {
                        "x": 2975.6015625,
                        "y": 4266.36279296875,
                        "z": 361.0924377441406
                    },
                    "rotation": {
                        "roll": 0.004662854131311178,
                        "pitch": 0.50749671459198,
                        "yaw": 9.852507591247559
                    }
                },
                "velocity": {
                    "x": 6.455946445465088,
                    "y": 1.120482325553894,
                    "z": 0.057792890816926956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.205325126647949,
                "transform": {
                    "location": {
                        "x": 3022.537353515625,
                        "y": 4267.306640625,
                        "z": 361.5232849121094
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": -0.5324132442474365,
                        "yaw": -170.3234100341797
                    }
                },
                "velocity": {
                    "x": -5.1306352615356445,
                    "y": -0.8772515654563904,
                    "z": -0.04920608550310135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.954249382019043,
                "transform": {
                    "location": {
                        "x": 3007.16748046875,
                        "y": 4264.81298828125,
                        "z": 361.3855895996094
                    },
                    "rotation": {
                        "roll": -0.003936767578125,
                        "pitch": -0.5978327393531799,
                        "yaw": -170.3544464111328
                    }
                },
                "velocity": {
                    "x": -5.868814945220947,
                    "y": -1.003514051437378,
                    "z": -0.05527685210108757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4686174392700195,
                "transform": {
                    "location": {
                        "x": 3020.706298828125,
                        "y": 4270.28955078125,
                        "z": 361.5151062011719
                    },
                    "rotation": {
                        "roll": -0.006561277434229851,
                        "pitch": -0.27828919887542725,
                        "yaw": -170.23118591308594
                    }
                },
                "velocity": {
                    "x": -7.360842227935791,
                    "y": -1.2622050046920776,
                    "z": -0.07128347456455231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.541428089141846,
                "transform": {
                    "location": {
                        "x": 3005.451416015625,
                        "y": 4267.81884765625,
                        "z": 361.3706970214844
                    },
                    "rotation": {
                        "roll": -0.00653076870366931,
                        "pitch": -0.4101596772670746,
                        "yaw": -170.3228302001953
                    }
                },
                "velocity": {
                    "x": -6.447669982910156,
                    "y": -1.1018767356872559,
                    "z": -0.06084330007433891
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00013922779180575162,
        "expert_target_speed": 1.105691521808787,
        "target_point": [
            51.00102152689113,
            2.1646528598040504e-05
        ],
        "target_point_next": [
            102.00107902983822,
            0.00019928072257258123
        ]
    },
    "45": {
        "acceleration": [
            -4.803644180297852,
            -2.5764365196228027,
            -0.05705871060490608
        ],
        "angular_velocity": [
            -1.9235235452651978,
            1.1530591249465942,
            6.342811107635498
        ],
        "forward_vector": [
            -0.9861128926277161,
            -0.16590915620326996,
            -0.007448842748999596
        ],
        "right_vector": [
            0.16589723527431488,
            -0.9861406683921814,
            0.002194914733991027
        ],
        "location": [
            3041.25048828125,
            4270.36376953125,
            361.7052307128906
        ],
        "rotation": [
            -0.125762939453125,
            -0.4267911911010742,
            -170.44967651367188
        ],
        "velocity": [
            -0.5856819152832031,
            -0.2564559876918793,
            -0.006299371365457773
        ],
        "speed": 0.6393692043825839,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.345224380493164,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3021.174072265625,
                4267.0732421875,
                361.5099792480469
            ],
            "velocity": [
                -5.957206726074219,
                -1.0186328887939453,
                -0.057720545679330826
            ],
            "speed_kmh": 21.758197663069506,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.603572368621826,
                "transform": {
                    "location": {
                        "x": 2976.68017578125,
                        "y": 4269.8466796875,
                        "z": 361.1127624511719
                    },
                    "rotation": {
                        "roll": 0.009488089010119438,
                        "pitch": 0.3363116681575775,
                        "yaw": 9.704014778137207
                    }
                },
                "velocity": {
                    "x": 5.524161338806152,
                    "y": 0.9387111663818359,
                    "z": 0.04987945407629013
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.82624626159668,
                "transform": {
                    "location": {
                        "x": 2977.2431640625,
                        "y": 4266.64501953125,
                        "z": 361.1072998046875
                    },
                    "rotation": {
                        "roll": 0.005924247205257416,
                        "pitch": 0.5109937191009521,
                        "yaw": 9.76783275604248
                    }
                },
                "velocity": {
                    "x": 6.729205131530762,
                    "y": 1.145323634147644,
                    "z": 0.06060797721147537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.043943881988525,
                "transform": {
                    "location": {
                        "x": 3021.174072265625,
                        "y": 4267.0732421875,
                        "z": 361.5099792480469
                    },
                    "rotation": {
                        "roll": -0.0049133277498185635,
                        "pitch": -0.5311837792396545,
                        "yaw": -170.3097686767578
                    }
                },
                "velocity": {
                    "x": -5.957206726074219,
                    "y": -1.0186328887939453,
                    "z": -0.057720545679330826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.437577724456787,
                "transform": {
                    "location": {
                        "x": 3005.655029296875,
                        "y": 4264.5556640625,
                        "z": 361.3713073730469
                    },
                    "rotation": {
                        "roll": -0.00436400854960084,
                        "pitch": -0.6075453162193298,
                        "yaw": -170.30714416503906
                    }
                },
                "velocity": {
                    "x": -6.345277786254883,
                    "y": -1.0845779180526733,
                    "z": -0.059599798172712326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.58369255065918,
                "transform": {
                    "location": {
                        "x": 3018.790771484375,
                        "y": 4269.96484375,
                        "z": 361.4963684082031
                    },
                    "rotation": {
                        "roll": 0.009079745970666409,
                        "pitch": -0.45818954706192017,
                        "yaw": -170.547607421875
                    }
                },
                "velocity": {
                    "x": -7.478636741638184,
                    "y": -1.255791187286377,
                    "z": -0.0733162984251976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3152709007263184,
                "transform": {
                    "location": {
                        "x": 3004.214599609375,
                        "y": 4267.609375,
                        "z": 361.3585510253906
                    },
                    "rotation": {
                        "roll": -0.0001831131085054949,
                        "pitch": -1.1780436038970947,
                        "yaw": -170.35711669921875
                    }
                },
                "velocity": {
                    "x": -2.283155918121338,
                    "y": -0.3836117088794708,
                    "z": -0.02280537039041519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.021835746243596077,
        "expert_target_speed": 1.7576688618042176,
        "target_point": [
            50.95946942695837,
            -0.32808156568627567
        ],
        "target_point_next": [
            101.95852680742378,
            -0.6474741759039979
        ]
    },
    "50": {
        "acceleration": [
            -2.468416690826416,
            -1.4939522743225098,
            -0.024004559963941574
        ],
        "angular_velocity": [
            -0.5115668773651123,
            0.04035203903913498,
            13.616930961608887
        ],
        "forward_vector": [
            -0.9776543378829956,
            -0.21017521619796753,
            -0.004281268920749426
        ],
        "right_vector": [
            0.21015000343322754,
            -0.9776527285575867,
            0.005674580577760935
        ],
        "location": [
            3040.990478515625,
            4270.25146484375,
            361.7018127441406
        ],
        "rotation": [
            -0.3251342475414276,
            -0.24529939889907837,
            -167.8672637939453
        ],
        "velocity": [
            -1.3660557270050049,
            -0.6705837249755859,
            -0.01391148567199707
        ],
        "speed": 1.5217722502021467,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.641775131225586,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3019.625,
                4266.810546875,
                361.4949035644531
            ],
            "velocity": [
                -6.708252429962158,
                -1.1256098747253418,
                -0.06464417278766632
            ],
            "speed_kmh": 24.48842337753273,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.72341775894165,
                "transform": {
                    "location": {
                        "x": 2978.065185546875,
                        "y": 4270.08154296875,
                        "z": 361.1253967285156
                    },
                    "rotation": {
                        "roll": 0.00821433775126934,
                        "pitch": 0.49908873438835144,
                        "yaw": 9.637991905212402
                    }
                },
                "velocity": {
                    "x": 5.642947196960449,
                    "y": 0.9549855589866638,
                    "z": 0.05154909938573837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.800470352172852,
                "transform": {
                    "location": {
                        "x": 2979.028564453125,
                        "y": 4266.94873046875,
                        "z": 361.12335205078125
                    },
                    "rotation": {
                        "roll": 0.004318959545344114,
                        "pitch": 0.5367298722267151,
                        "yaw": 9.64751148223877
                    }
                },
                "velocity": {
                    "x": 7.690918922424316,
                    "y": 1.3007911443710327,
                    "z": 0.07104888558387756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.802340030670166,
                "transform": {
                    "location": {
                        "x": 3019.625,
                        "y": 4266.810546875,
                        "z": 361.4949035644531
                    },
                    "rotation": {
                        "roll": -0.0027770979795604944,
                        "pitch": -0.5234656929969788,
                        "yaw": -170.35263061523438
                    }
                },
                "velocity": {
                    "x": -6.708252429962158,
                    "y": -1.1256098747253418,
                    "z": -0.06464417278766632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.844838619232178,
                "transform": {
                    "location": {
                        "x": 3004.128662109375,
                        "y": 4264.29931640625,
                        "z": 361.3559265136719
                    },
                    "rotation": {
                        "roll": -0.006500237621366978,
                        "pitch": -0.49151405692100525,
                        "yaw": -170.43533325195312
                    }
                },
                "velocity": {
                    "x": -5.765398025512695,
                    "y": -0.9588174819946289,
                    "z": -0.05470004305243492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.964433670043945,
                "transform": {
                    "location": {
                        "x": 3017.092041015625,
                        "y": 4269.68115234375,
                        "z": 361.4796447753906
                    },
                    "rotation": {
                        "roll": 0.009152418933808804,
                        "pitch": -0.7150797843933105,
                        "yaw": -170.81692504882812
                    }
                },
                "velocity": {
                    "x": -5.882734298706055,
                    "y": -0.9821671843528748,
                    "z": -0.057011764496564865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.275705575942993,
                "transform": {
                    "location": {
                        "x": 3003.570556640625,
                        "y": 4267.50146484375,
                        "z": 361.35272216796875
                    },
                    "rotation": {
                        "roll": -0.001098635490052402,
                        "pitch": -0.6422426700592041,
                        "yaw": -170.41348266601562
                    }
                },
                "velocity": {
                    "x": -3.2308497428894043,
                    "y": -0.5394218564033508,
                    "z": -0.029703626409173012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17709225416183472,
        "expert_target_speed": 2.646924621843521,
        "target_point": [
            50.615130626993924,
            -2.678919633195142
        ],
        "target_point_next": [
            101.54800636127958,
            -5.295794634275737
        ]
    },
    "55": {
        "acceleration": [
            -3.7659645080566406,
            -2.5681018829345703,
            -0.03208048641681671
        ],
        "angular_velocity": [
            -0.6839411854743958,
            0.1698000729084015,
            21.491064071655273
        ],
        "forward_vector": [
            -0.9579742550849915,
            -0.28684350848197937,
            -0.002472993917763233
        ],
        "right_vector": [
            0.28681206703186035,
            -0.9579458236694336,
            0.008867116644978523
        ],
        "location": [
            3040.519287109375,
            4270.02001953125,
            361.6966857910156
        ],
        "rotation": [
            -0.5080565810203552,
            -0.14169226586818695,
            -163.33087158203125
        ],
        "velocity": [
            -2.3193392753601074,
            -1.2907437086105347,
            -0.023307085037231445
        ],
        "speed": 2.654308572028811,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.9643611907959,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3017.825927734375,
                4266.50927734375,
                361.4776611328125
            ],
            "velocity": [
                -7.516190528869629,
                -1.2506811618804932,
                -0.07327330112457275
            ],
            "speed_kmh": 27.431596629698113,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.683921813964844,
                "transform": {
                    "location": {
                        "x": 2979.677734375,
                        "y": 4270.35400390625,
                        "z": 361.1402282714844
                    },
                    "rotation": {
                        "roll": 0.005964885000139475,
                        "pitch": 0.8455842137336731,
                        "yaw": 9.604743003845215
                    }
                },
                "velocity": {
                    "x": 7.576144695281982,
                    "y": 1.2806117534637451,
                    "z": 0.0687008872628212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.41047191619873,
                "transform": {
                    "location": {
                        "x": 2981.07763671875,
                        "y": 4267.294921875,
                        "z": 361.14215087890625
                    },
                    "rotation": {
                        "roll": 0.0038719449657946825,
                        "pitch": 0.5400630235671997,
                        "yaw": 9.553536415100098
                    }
                },
                "velocity": {
                    "x": 8.29528522491455,
                    "y": 1.3850865364074707,
                    "z": 0.07626602053642273
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.619887828826904,
                "transform": {
                    "location": {
                        "x": 3017.825927734375,
                        "y": 4266.50927734375,
                        "z": 361.4776611328125
                    },
                    "rotation": {
                        "roll": -0.002807621844112873,
                        "pitch": -0.5237730145454407,
                        "yaw": -170.49586486816406
                    }
                },
                "velocity": {
                    "x": -7.516190528869629,
                    "y": -1.2506811618804932,
                    "z": -0.07327330112457275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.115941524505615,
                "transform": {
                    "location": {
                        "x": 3002.79833984375,
                        "y": 4264.07763671875,
                        "z": 361.34332275390625
                    },
                    "rotation": {
                        "roll": -0.0035095219500362873,
                        "pitch": -0.46514269709587097,
                        "yaw": -170.5057373046875
                    }
                },
                "velocity": {
                    "x": -5.046568393707275,
                    "y": -0.8382495641708374,
                    "z": -0.04842840135097504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0028836068231612444,
                "transform": {
                    "location": {
                        "x": 3016.490478515625,
                        "y": 4269.5810546875,
                        "z": 361.4728088378906
                    },
                    "rotation": {
                        "roll": 0.015075174160301685,
                        "pitch": -1.3245785236358643,
                        "yaw": -170.86602783203125
                    }
                },
                "velocity": {
                    "x": 0.00252014328725636,
                    "y": 0.0007246953318826854,
                    "z": 0.001199534279294312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.797014236450195,
                "transform": {
                    "location": {
                        "x": 3002.55859375,
                        "y": 4267.33251953125,
                        "z": 361.3433532714844
                    },
                    "rotation": {
                        "roll": -0.00012207140389364213,
                        "pitch": -0.3095099925994873,
                        "yaw": -170.47799682617188
                    }
                },
                "velocity": {
                    "x": -4.731567859649658,
                    "y": -0.7883771061897278,
                    "z": -0.04555552452802658
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4357600808143616,
        "expert_target_speed": 3.774430692340265,
        "target_point": [
            49.72690394390704,
            -6.760379158256735
        ],
        "target_point_next": [
            100.29324427861486,
            -13.397478712276255
        ]
    },
    "60": {
        "acceleration": [
            -3.6466026306152344,
            -3.106362819671631,
            -0.05272194743156433
        ],
        "angular_velocity": [
            -0.633469820022583,
            -0.014068404212594032,
            25.25994300842285
        ],
        "forward_vector": [
            -0.9230868816375732,
            -0.3845894932746887,
            -0.0012266632402315736
        ],
        "right_vector": [
            0.3845502436161041,
            -0.9230299592018127,
            0.011695793829858303
        ],
        "location": [
            3039.813720703125,
            4269.62060546875,
            361.6891784667969
        ],
        "rotation": [
            -0.6701354384422302,
            -0.07028264552354813,
            -157.38172912597656
        ],
        "velocity": [
            -3.226139545440674,
            -2.0519466400146484,
            -0.03420098125934601
        ],
        "speed": 3.823409653715328,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.07752799987793,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3015.981201171875,
                4266.2021484375,
                361.4601135253906
            ],
            "velocity": [
                -6.884867191314697,
                -1.1433417797088623,
                -0.06586439907550812
            ],
            "speed_kmh": 25.12608253649782,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.324027061462402,
                "transform": {
                    "location": {
                        "x": 2981.719970703125,
                        "y": 4270.6943359375,
                        "z": 361.1589660644531
                    },
                    "rotation": {
                        "roll": 0.013081175275146961,
                        "pitch": 0.7094995379447937,
                        "yaw": 9.456281661987305
                    }
                },
                "velocity": {
                    "x": 8.211462020874023,
                    "y": 1.3621554374694824,
                    "z": 0.0764336958527565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.878623962402344,
                "transform": {
                    "location": {
                        "x": 2983.07861328125,
                        "y": 4267.6279296875,
                        "z": 361.1608581542969
                    },
                    "rotation": {
                        "roll": 0.0027128488291054964,
                        "pitch": 0.515324056148529,
                        "yaw": 9.418397903442383
                    }
                },
                "velocity": {
                    "x": 7.772928237915039,
                    "y": 1.2841932773590088,
                    "z": 0.07172670215368271
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.979467391967773,
                "transform": {
                    "location": {
                        "x": 3015.981201171875,
                        "y": 4266.2021484375,
                        "z": 361.4601135253906
                    },
                    "rotation": {
                        "roll": -0.0011596651747822762,
                        "pitch": -0.5520568490028381,
                        "yaw": -170.56614685058594
                    }
                },
                "velocity": {
                    "x": -6.884867191314697,
                    "y": -1.1433417797088623,
                    "z": -0.06586439907550812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.445908546447754,
                "transform": {
                    "location": {
                        "x": 3001.62548828125,
                        "y": 4263.8828125,
                        "z": 361.331787109375
                    },
                    "rotation": {
                        "roll": -0.0025329608470201492,
                        "pitch": -0.4496176540851593,
                        "yaw": -170.53689575195312
                    }
                },
                "velocity": {
                    "x": -4.3856000900268555,
                    "y": -0.7286747694015503,
                    "z": -0.04056773707270622
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5497937202453613,
                "transform": {
                    "location": {
                        "x": 3016.2548828125,
                        "y": 4269.5419921875,
                        "z": 361.4715881347656
                    },
                    "rotation": {
                        "roll": 0.00346950301900506,
                        "pitch": -0.6007697582244873,
                        "yaw": -170.84181213378906
                    }
                },
                "velocity": {
                    "x": -1.5292304754257202,
                    "y": -0.25124549865722656,
                    "z": -0.013805990107357502
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.431666374206543,
                "transform": {
                    "location": {
                        "x": 3001.2578125,
                        "y": 4267.1162109375,
                        "z": 361.33135986328125
                    },
                    "rotation": {
                        "roll": 0.0009693180909380317,
                        "pitch": -0.3826613128185272,
                        "yaw": -170.56297302246094
                    }
                },
                "velocity": {
                    "x": -5.357950210571289,
                    "y": -0.8904533386230469,
                    "z": -0.04963869974017143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8166360855102539,
        "expert_target_speed": 4.908159657682331,
        "target_point": [
            47.953487842246595,
            -11.975316368289114
        ],
        "target_point_next": [
            97.55957874465382,
            -23.817681449537695
        ]
    },
    "65": {
        "acceleration": [
            -3.5870838165283203,
            -1.6283082962036133,
            -0.03467358648777008
        ],
        "angular_velocity": [
            0.7832891941070557,
            0.32165980339050293,
            13.0534086227417
        ],
        "forward_vector": [
            -0.888107180595398,
            -0.45963579416275024,
            -0.0007632969645783305
        ],
        "right_vector": [
            0.45961621403694153,
            -0.8880825042724609,
            0.007902047596871853
        ],
        "location": [
            3038.87158203125,
            4269.0576171875,
            361.67926025390625
        ],
        "rotation": [
            -0.4527588486671448,
            -0.04373369738459587,
            -152.63638305664062
        ],
        "velocity": [
            -4.183221817016602,
            -2.542680501937866,
            -0.04363956302404404
        ],
        "speed": 4.895361978985688,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.527090072631836,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3014.54150390625,
                4265.9638671875,
                361.4465637207031
            ],
            "velocity": [
                -3.813368797302246,
                -0.6284323930740356,
                -0.03928934037685394
            ],
            "speed_kmh": 13.914012811509417,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.801601886749268,
                "transform": {
                    "location": {
                        "x": 2983.694091796875,
                        "y": 4271.02099609375,
                        "z": 361.17718505859375
                    },
                    "rotation": {
                        "roll": 0.008307302370667458,
                        "pitch": 0.488399475812912,
                        "yaw": 9.385603904724121
                    }
                },
                "velocity": {
                    "x": 7.697117805480957,
                    "y": 1.2704834938049316,
                    "z": 0.07239894568920135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.105359077453613,
                "transform": {
                    "location": {
                        "x": 2985.036865234375,
                        "y": 4267.951171875,
                        "z": 361.17901611328125
                    },
                    "rotation": {
                        "roll": 0.0022070391569286585,
                        "pitch": 0.5295376777648926,
                        "yaw": 9.349600791931152
                    }
                },
                "velocity": {
                    "x": 7.997567653656006,
                    "y": 1.3154443502426147,
                    "z": 0.07317615300416946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8650035858154297,
                "transform": {
                    "location": {
                        "x": 3014.54150390625,
                        "y": 4265.9638671875,
                        "z": 361.4465637207031
                    },
                    "rotation": {
                        "roll": -0.0014953615609556437,
                        "pitch": -0.6064729690551758,
                        "yaw": -170.6077117919922
                    }
                },
                "velocity": {
                    "x": -3.813368797302246,
                    "y": -0.6284323930740356,
                    "z": -0.03928934037685394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.269654273986816,
                "transform": {
                    "location": {
                        "x": 3000.42529296875,
                        "y": 4263.68408203125,
                        "z": 361.322021484375
                    },
                    "rotation": {
                        "roll": -0.0045776390470564365,
                        "pitch": -0.5803816318511963,
                        "yaw": -170.58203125
                    }
                },
                "velocity": {
                    "x": -5.20021390914917,
                    "y": -0.8513988852500916,
                    "z": -0.046391986310482025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6036605834960938,
                "transform": {
                    "location": {
                        "x": 3015.742431640625,
                        "y": 4269.45751953125,
                        "z": 361.4669189453125
                    },
                    "rotation": {
                        "roll": 0.0012136928271502256,
                        "pitch": -0.42659991979599,
                        "yaw": -170.7666778564453
                    }
                },
                "velocity": {
                    "x": -2.5689754486083984,
                    "y": -0.4228566586971283,
                    "z": -0.0246225968003273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.538970470428467,
                "transform": {
                    "location": {
                        "x": 2999.84716796875,
                        "y": 4266.88232421875,
                        "z": 361.318115234375
                    },
                    "rotation": {
                        "roll": 0.004017338156700134,
                        "pitch": -0.3342284560203552,
                        "yaw": -170.55697631835938
                    }
                },
                "velocity": {
                    "x": -6.451640605926514,
                    "y": -1.0634222030639648,
                    "z": -0.06001986190676689
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0004884004592896,
        "expert_target_speed": 5.8938681221302325,
        "target_point": [
            45.70294762916453,
            -15.968256047234735
        ],
        "target_point_next": [
            94.15932227244748,
            -31.873777785463517
        ]
    },
    "70": {
        "acceleration": [
            1.3681316375732422,
            2.4373626708984375,
            1.2884111404418945
        ],
        "angular_velocity": [
            -7.409180641174316,
            -3.117262363433838,
            2.1777095794677734
        ],
        "forward_vector": [
            -0.8766708970069885,
            -0.4810722768306732,
            -0.004202472046017647
        ],
        "right_vector": [
            0.48106035590171814,
            -0.876680314540863,
            0.003558476222679019
        ],
        "location": [
            3037.760009765625,
            4268.42529296875,
            361.66943359375
        ],
        "rotation": [
            -0.20388789474964142,
            -0.2407846450805664,
            -151.2442626953125
        ],
        "velocity": [
            -4.388322353363037,
            -2.3870718479156494,
            0.019233493134379387
        ],
        "speed": 4.995546525069819,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.701004028320312,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3014.1943359375,
                4265.90625,
                361.4434814453125
            ],
            "velocity": [
                -0.23081086575984955,
                -0.03779493644833565,
                -0.0012276077177375555
            ],
            "speed_kmh": 0.841996980476006,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.127973556518555,
                "transform": {
                    "location": {
                        "x": 2985.65087890625,
                        "y": 4271.3427734375,
                        "z": 361.1954345703125
                    },
                    "rotation": {
                        "roll": 0.008784432895481586,
                        "pitch": 0.5736060738563538,
                        "yaw": 9.341097831726074
                    }
                },
                "velocity": {
                    "x": 8.020593643188477,
                    "y": 1.314660668373108,
                    "z": 0.07545110583305359
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.101819038391113,
                "transform": {
                    "location": {
                        "x": 2987.049560546875,
                        "y": 4268.28125,
                        "z": 361.19769287109375
                    },
                    "rotation": {
                        "roll": 0.001606580801308155,
                        "pitch": 0.5310676693916321,
                        "yaw": 9.296515464782715
                    }
                },
                "velocity": {
                    "x": 7.99562406539917,
                    "y": 1.3052787780761719,
                    "z": 0.07560102641582489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.23388805985450745,
                "transform": {
                    "location": {
                        "x": 3014.1943359375,
                        "y": 4265.90625,
                        "z": 361.4434814453125
                    },
                    "rotation": {
                        "roll": -0.0014038117369636893,
                        "pitch": -0.6410200595855713,
                        "yaw": -170.6260528564453
                    }
                },
                "velocity": {
                    "x": -0.23081086575984955,
                    "y": -0.03779493644833565,
                    "z": -0.0012276077177375555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.63607120513916,
                "transform": {
                    "location": {
                        "x": 2999.09375,
                        "y": 4263.46533203125,
                        "z": 361.30963134765625
                    },
                    "rotation": {
                        "roll": -0.0017700160387903452,
                        "pitch": -0.5776358842849731,
                        "yaw": -170.66778564453125
                    }
                },
                "velocity": {
                    "x": -5.561738967895508,
                    "y": -0.9108174443244934,
                    "z": -0.052617575973272324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.190145969390869,
                "transform": {
                    "location": {
                        "x": 3014.89453125,
                        "y": 4269.318359375,
                        "z": 361.4588623046875
                    },
                    "rotation": {
                        "roll": 0.0016234851209446788,
                        "pitch": -0.32589563727378845,
                        "yaw": -170.70867919921875
                    }
                },
                "velocity": {
                    "x": -4.13504695892334,
                    "y": -0.6761270761489868,
                    "z": -0.039518892765045166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.105633735656738,
                "transform": {
                    "location": {
                        "x": 2997.963623046875,
                        "y": 4266.572265625,
                        "z": 361.300537109375
                    },
                    "rotation": {
                        "roll": 0.004592119716107845,
                        "pitch": -0.22409166395664215,
                        "yaw": -170.6398162841797
                    }
                },
                "velocity": {
                    "x": -7.998235702514648,
                    "y": -1.3129476308822632,
                    "z": -0.07540501654148102
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.999983549118042,
        "expert_target_speed": 5.948638399828826,
        "target_point": [
            44.02282349225516,
            -17.09348231271574
        ],
        "target_point_next": [
            92.07847337574267,
            -34.1715495221844
        ]
    },
    "75": {
        "acceleration": [
            -1.3142013549804688,
            2.1715784072875977,
            -0.2660663425922394
        ],
        "angular_velocity": [
            -2.037728786468506,
            0.06249522790312767,
            -17.262577056884766
        ],
        "forward_vector": [
            -0.8968605995178223,
            -0.4420819580554962,
            0.014306056313216686
        ],
        "right_vector": [
            0.44230347871780396,
            -0.8961551785469055,
            0.035686831921339035
        ],
        "location": [
            3036.55712890625,
            4267.82666015625,
            361.68560791015625
        ],
        "rotation": [
            -2.0453484058380127,
            0.8197045922279358,
            -153.76031494140625
        ],
        "velocity": [
            -5.010411739349365,
            -2.0574660301208496,
            -0.0029220390133559704
        ],
        "speed": 5.416400304899111,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.617576599121094,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3014.02490234375,
                4265.87890625,
                361.4410705566406
            ],
            "velocity": [
                -1.0557010173797607,
                -0.17420311272144318,
                -0.010278958827257156
            ],
            "speed_kmh": 3.852095919582876,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.064105987548828,
                "transform": {
                    "location": {
                        "x": 2987.661376953125,
                        "y": 4271.67138671875,
                        "z": 361.2141418457031
                    },
                    "rotation": {
                        "roll": 0.005419253837317228,
                        "pitch": 0.5348379611968994,
                        "yaw": 9.289051055908203
                    }
                },
                "velocity": {
                    "x": 7.958179950714111,
                    "y": 1.3006080389022827,
                    "z": 0.07478751987218857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.00424861907959,
                "transform": {
                    "location": {
                        "x": 2989.029296875,
                        "y": 4268.6044921875,
                        "z": 361.21630859375
                    },
                    "rotation": {
                        "roll": 0.0014250683598220348,
                        "pitch": 0.5264368057250977,
                        "yaw": 9.253643035888672
                    }
                },
                "velocity": {
                    "x": 7.899913311004639,
                    "y": 1.2860298156738281,
                    "z": 0.07414644211530685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0700266361236572,
                "transform": {
                    "location": {
                        "x": 3014.02490234375,
                        "y": 4265.87890625,
                        "z": 361.4410705566406
                    },
                    "rotation": {
                        "roll": -0.002410887973383069,
                        "pitch": -0.5428497195243835,
                        "yaw": -170.6051025390625
                    }
                },
                "velocity": {
                    "x": -1.0557010173797607,
                    "y": -0.17420311272144318,
                    "z": -0.010278958827257156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.769717693328857,
                "transform": {
                    "location": {
                        "x": 2997.607666015625,
                        "y": 4263.2216796875,
                        "z": 361.29608154296875
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.629579484462738,
                        "yaw": -170.72848510742188
                    }
                },
                "velocity": {
                    "x": -6.680595397949219,
                    "y": -1.0930622816085815,
                    "z": -0.06274277716875076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.41398286819458,
                "transform": {
                    "location": {
                        "x": 3013.68408203125,
                        "y": 4269.1201171875,
                        "z": 361.4475402832031
                    },
                    "rotation": {
                        "roll": 0.00027839670656248927,
                        "pitch": -0.33715176582336426,
                        "yaw": -170.7047119140625
                    }
                },
                "velocity": {
                    "x": -5.3427019119262695,
                    "y": -0.8742204308509827,
                    "z": -0.04987823963165283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.411205291748047,
                "transform": {
                    "location": {
                        "x": 2996.06396484375,
                        "y": 4266.26123046875,
                        "z": 361.2826843261719
                    },
                    "rotation": {
                        "roll": 0.002695029601454735,
                        "pitch": -0.5621928572654724,
                        "yaw": -170.7076873779297
                    }
                },
                "velocity": {
                    "x": -7.313614845275879,
                    "y": -1.1968508958816528,
                    "z": -0.06743273138999939
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9994127750396729,
        "expert_target_speed": 6.313849708406133,
        "target_point": [
            43.38717627954326,
            -15.149552871964872
        ],
        "target_point_next": [
            92.14621312399356,
            -30.101549104475197
        ]
    },
    "80": {
        "acceleration": [
            -3.4446144104003906,
            1.8717575073242188,
            -0.12255795300006866
        ],
        "angular_velocity": [
            -0.7190613746643066,
            0.5054265856742859,
            -27.92413330078125
        ],
        "forward_vector": [
            -0.9390048980712891,
            -0.34318989515304565,
            0.022147512063384056
        ],
        "right_vector": [
            0.3438010811805725,
            -0.9383494853973389,
            0.03606969490647316
        ],
        "location": [
            3035.108154296875,
            4267.32568359375,
            361.6763610839844
        ],
        "rotation": [
            -2.067596912384033,
            1.2690627574920654,
            -159.92352294921875
        ],
        "velocity": [
            -6.416708946228027,
            -1.7289057970046997,
            -0.050195153802633286
        ],
        "speed": 6.645545045782118,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.507375717163086,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3013.655029296875,
                4265.81787109375,
                361.4373474121094
            ],
            "velocity": [
                -1.905061960220337,
                -0.31122368574142456,
                -0.017794551327824593
            ],
            "speed_kmh": 6.949434163706408,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.962805271148682,
                "transform": {
                    "location": {
                        "x": 2989.628662109375,
                        "y": 4271.99267578125,
                        "z": 361.2325744628906
                    },
                    "rotation": {
                        "roll": 0.0037454538978636265,
                        "pitch": 0.5172160267829895,
                        "yaw": 9.266681671142578
                    }
                },
                "velocity": {
                    "x": 7.858800411224365,
                    "y": 1.2807422876358032,
                    "z": 0.07229354977607727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0879545211792,
                "transform": {
                    "location": {
                        "x": 2991.015625,
                        "y": 4268.92822265625,
                        "z": 361.2348327636719
                    },
                    "rotation": {
                        "roll": 0.0011214896803721786,
                        "pitch": 0.5303710103034973,
                        "yaw": 9.233057022094727
                    }
                },
                "velocity": {
                    "x": 7.983046531677246,
                    "y": 1.2963672876358032,
                    "z": 0.0735175684094429
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9303983449935913,
                "transform": {
                    "location": {
                        "x": 3013.655029296875,
                        "y": 4265.81787109375,
                        "z": 361.4373474121094
                    },
                    "rotation": {
                        "roll": -0.0016174286138266325,
                        "pitch": -0.5250844359397888,
                        "yaw": -170.65916442871094
                    }
                },
                "velocity": {
                    "x": -1.905061960220337,
                    "y": -0.31122368574142456,
                    "z": -0.017794551327824593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.179703712463379,
                "transform": {
                    "location": {
                        "x": 2995.73779296875,
                        "y": 4262.916015625,
                        "z": 361.27886962890625
                    },
                    "rotation": {
                        "roll": -0.0011596627300605178,
                        "pitch": -0.6649803519248962,
                        "yaw": -170.719482421875
                    }
                },
                "velocity": {
                    "x": -8.071837425231934,
                    "y": -1.3218721151351929,
                    "z": -0.07516369968652725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5209150314331055,
                "transform": {
                    "location": {
                        "x": 3012.331787109375,
                        "y": 4268.89892578125,
                        "z": 361.4342346191406
                    },
                    "rotation": {
                        "roll": -0.000762936775572598,
                        "pitch": -0.4793631434440613,
                        "yaw": -170.70257568359375
                    }
                },
                "velocity": {
                    "x": -5.448164463043213,
                    "y": -0.8918135762214661,
                    "z": -0.05171920359134674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.941738605499268,
                "transform": {
                    "location": {
                        "x": 2994.192138671875,
                        "y": 4265.95556640625,
                        "z": 361.26519775390625
                    },
                    "rotation": {
                        "roll": 0.0028490209951996803,
                        "pitch": -0.46010884642601013,
                        "yaw": -170.7183074951172
                    }
                },
                "velocity": {
                    "x": -7.838061809539795,
                    "y": -1.27696692943573,
                    "z": -0.07317323982715607
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9998731017112732,
        "expert_target_speed": 7.306993610514216,
        "target_point": [
            43.22997311145394,
            -10.377041010369418
        ],
        "target_point_next": [
            93.31244849028232,
            -20.007800339960973
        ]
    },
    "85": {
        "acceleration": [
            -0.3655529022216797,
            2.8227508068084717,
            -0.36888009309768677
        ],
        "angular_velocity": [
            -1.7762792110443115,
            -2.741924524307251,
            -29.23853302001953
        ],
        "forward_vector": [
            -0.9750683307647705,
            -0.22189904749393463,
            -0.0016031258273869753
        ],
        "right_vector": [
            0.22124335169792175,
            -0.9726937413215637,
            0.07013100385665894
        ],
        "location": [
            3033.4619140625,
            4266.95849609375,
            361.6946105957031
        ],
        "rotation": [
            -4.021516799926758,
            -0.09185238182544708,
            -167.17938232421875
        ],
        "velocity": [
            -6.816493511199951,
            -0.9683683514595032,
            -0.023624172434210777
        ],
        "speed": 6.884934353524327,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.419652938842773,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3013.081298828125,
                4265.72412109375,
                361.4318542480469
            ],
            "velocity": [
                -2.6567251682281494,
                -0.43410685658454895,
                -0.026273587718605995
            ],
            "speed_kmh": 9.691510036242809,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.093279838562012,
                "transform": {
                    "location": {
                        "x": 2991.61376953125,
                        "y": 4272.3154296875,
                        "z": 361.25103759765625
                    },
                    "rotation": {
                        "roll": 0.003397751599550247,
                        "pitch": 0.5497345924377441,
                        "yaw": 9.239846229553223
                    }
                },
                "velocity": {
                    "x": 7.988080978393555,
                    "y": 1.2985122203826904,
                    "z": 0.07490449398756027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068321228027344,
                "transform": {
                    "location": {
                        "x": 2993.011474609375,
                        "y": 4269.251953125,
                        "z": 361.2533874511719
                    },
                    "rotation": {
                        "roll": 0.00035308042424730957,
                        "pitch": 0.5285336971282959,
                        "yaw": 9.220858573913574
                    }
                },
                "velocity": {
                    "x": 7.963735580444336,
                    "y": 1.2926733493804932,
                    "z": 0.07566899806261063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6920862197875977,
                "transform": {
                    "location": {
                        "x": 3013.081298828125,
                        "y": 4265.72412109375,
                        "z": 361.4318542480469
                    },
                    "rotation": {
                        "roll": -0.0013122583040967584,
                        "pitch": -0.524749755859375,
                        "yaw": -170.67584228515625
                    }
                },
                "velocity": {
                    "x": -2.6567251682281494,
                    "y": -0.43410685658454895,
                    "z": -0.026273587718605995
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.060894966125488,
                "transform": {
                    "location": {
                        "x": 2993.605224609375,
                        "y": 4262.568359375,
                        "z": 361.2586975097656
                    },
                    "rotation": {
                        "roll": -0.0015563960187137127,
                        "pitch": -0.6280494928359985,
                        "yaw": -170.7447967529297
                    }
                },
                "velocity": {
                    "x": -8.943009376525879,
                    "y": -1.4544477462768555,
                    "z": -0.08361775428056717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8139777183532715,
                "transform": {
                    "location": {
                        "x": 3010.61962890625,
                        "y": 4268.6181640625,
                        "z": 361.41815185546875
                    },
                    "rotation": {
                        "roll": -0.0019836421124637127,
                        "pitch": -0.27367883920669556,
                        "yaw": -170.67713928222656
                    }
                },
                "velocity": {
                    "x": -7.710534572601318,
                    "y": -1.2651515007019043,
                    "z": -0.07276297360658646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.761548042297363,
                "transform": {
                    "location": {
                        "x": 2992.09521484375,
                        "y": 4265.6142578125,
                        "z": 361.24566650390625
                    },
                    "rotation": {
                        "roll": 0.003477460704743862,
                        "pitch": -0.38277745246887207,
                        "yaw": -170.77699279785156
                    }
                },
                "velocity": {
                    "x": -8.64759635925293,
                    "y": -1.4061957597732544,
                    "z": -0.0801084041595459
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9999701380729675,
        "expert_target_speed": 7.482891376755152,
        "target_point": [
            42.50773984976583,
            -4.826680574077071
        ],
        "target_point_next": [
            93.40552797289494,
            -8.05484251371393
        ]
    },
    "90": {
        "acceleration": [
            1.2006855010986328,
            1.2944257259368896,
            -0.06226181983947754
        ],
        "angular_velocity": [
            -2.2429871559143066,
            -1.3792232275009155,
            -17.429460525512695
        ],
        "forward_vector": [
            -0.9925850033760071,
            -0.12127546966075897,
            -0.008202937431633472
        ],
        "right_vector": [
            0.12021360546350479,
            -0.9894022941589355,
            0.081435427069664
        ],
        "location": [
            3031.76904296875,
            4266.75537109375,
            361.68499755859375
        ],
        "rotation": [
            -4.671236038208008,
            -0.46999895572662354,
            -173.03404235839844
        ],
        "velocity": [
            -6.696115970611572,
            -0.5081333518028259,
            -0.05673045665025711
        ],
        "speed": 6.715368090811831,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.48944091796875,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3012.315673828125,
                4265.59912109375,
                361.4245300292969
            ],
            "velocity": [
                -3.4172139167785645,
                -0.5584648251533508,
                -0.032080210745334625
            ],
            "speed_kmh": 12.46570532213426,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2953.670654296875,
                        "y": 4266.078125,
                        "z": 361.15545654296875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2955.0009765625,
                        "y": 4263.0009765625,
                        "z": 361.01568603515625
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013314247131348,
                "transform": {
                    "location": {
                        "x": 2993.601806640625,
                        "y": 4272.638671875,
                        "z": 361.26959228515625
                    },
                    "rotation": {
                        "roll": 0.0021053743548691273,
                        "pitch": 0.5260406732559204,
                        "yaw": 9.228206634521484
                    }
                },
                "velocity": {
                    "x": 7.909247398376465,
                    "y": 1.2850910425186157,
                    "z": 0.07454967498779297
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.032943725585938,
                "transform": {
                    "location": {
                        "x": 2994.994873046875,
                        "y": 4269.57373046875,
                        "z": 361.2719421386719
                    },
                    "rotation": {
                        "roll": -0.0004577654763124883,
                        "pitch": 0.5282263159751892,
                        "yaw": 9.215526580810547
                    }
                },
                "velocity": {
                    "x": 7.928905010223389,
                    "y": 1.2864924669265747,
                    "z": 0.07471471279859543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.462695837020874,
                "transform": {
                    "location": {
                        "x": 3012.315673828125,
                        "y": 4265.59912109375,
                        "z": 361.4245300292969
                    },
                    "rotation": {
                        "roll": -0.001159666571766138,
                        "pitch": -0.5242306590080261,
                        "yaw": -170.69300842285156
                    }
                },
                "velocity": {
                    "x": -3.4172139167785645,
                    "y": -0.5584648251533508,
                    "z": -0.032080210745334625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.007378578186035,
                "transform": {
                    "location": {
                        "x": 2991.2470703125,
                        "y": 4262.18408203125,
                        "z": 361.2365417480469
                    },
                    "rotation": {
                        "roll": -0.0005187977221794426,
                        "pitch": -0.6187673211097717,
                        "yaw": -170.74778747558594
                    }
                },
                "velocity": {
                    "x": -9.876761436462402,
                    "y": -1.6089550256729126,
                    "z": -0.09204184263944626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.885746955871582,
                "transform": {
                    "location": {
                        "x": 3008.56201171875,
                        "y": 4268.28173828125,
                        "z": 361.39849853515625
                    },
                    "rotation": {
                        "roll": 0.0020063910633325577,
                        "pitch": -0.3373703360557556,
                        "yaw": -170.7258758544922
                    }
                },
                "velocity": {
                    "x": -8.769414901733398,
                    "y": -1.4307886362075806,
                    "z": -0.08189515024423599
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.422151565551758,
                "transform": {
                    "location": {
                        "x": 2989.720947265625,
                        "y": 4265.22900390625,
                        "z": 361.2235107421875
                    },
                    "rotation": {
                        "roll": 0.0030658768955618143,
                        "pitch": -0.24212336540222168,
                        "yaw": -170.79241943359375
                    }
                },
                "velocity": {
                    "x": -10.287327766418457,
                    "y": -1.6682190895080566,
                    "z": -0.09580759704113007
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9995798468589783,
        "expert_target_speed": 7.339391281509506,
        "target_point": [
            41.07335036078272,
            -0.4618113714735115
        ],
        "target_point_next": [
            92.03493820796632,
            1.5187010443557707
        ]
    },
    "95": {
        "acceleration": [
            -0.5987167358398438,
            -0.8064442873001099,
            -2.5273468494415283
        ],
        "angular_velocity": [
            13.383378028869629,
            -3.793836832046509,
            -5.227198600769043
        ],
        "forward_vector": [
            -0.9970548152923584,
            -0.07575731724500656,
            -0.011937572620809078
        ],
        "right_vector": [
            0.07442019134759903,
            -0.9933318495750427,
            0.0880536288022995
        ],
        "location": [
            3030.154052734375,
            4266.63720703125,
            361.67083740234375
        ],
        "rotation": [
            -5.052004337310791,
            -0.6839887499809265,
            -175.6549530029297
        ],
        "velocity": [
            -6.369195461273193,
            -0.3994717597961426,
            -0.17267964780330658
        ],
        "speed": 6.381710469049632,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.82865333557129,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3011.364990234375,
                4265.44384765625,
                361.41546630859375
            ],
            "velocity": [
                -4.158578395843506,
                -0.6795481443405151,
                -0.039142489433288574
            ],
            "speed_kmh": 15.170099323265585,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2955.709228515625,
                        "y": 4266.408203125,
                        "z": 360.95074462890625
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2957.051513671875,
                        "y": 4263.33251953125,
                        "z": 360.9538879394531
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032425880432129,
                "transform": {
                    "location": {
                        "x": 2995.578369140625,
                        "y": 4272.95947265625,
                        "z": 361.2881164550781
                    },
                    "rotation": {
                        "roll": 0.002425539307296276,
                        "pitch": 0.533909022808075,
                        "yaw": 9.221887588500977
                    }
                },
                "velocity": {
                    "x": 7.9284348487854,
                    "y": 1.2862603664398193,
                    "z": 0.07289741188287735
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09260368347168,
                "transform": {
                    "location": {
                        "x": 2996.986572265625,
                        "y": 4269.89697265625,
                        "z": 361.29052734375
                    },
                    "rotation": {
                        "roll": 5.8886213082587346e-05,
                        "pitch": 0.529448926448822,
                        "yaw": 9.202574729919434
                    }
                },
                "velocity": {
                    "x": 7.988256454467773,
                    "y": 1.2931883335113525,
                    "z": 0.07516486942768097
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.213916301727295,
                "transform": {
                    "location": {
                        "x": 3011.364990234375,
                        "y": 4265.44384765625,
                        "z": 361.41546630859375
                    },
                    "rotation": {
                        "roll": -0.0012207066174596548,
                        "pitch": -0.520781397819519,
                        "yaw": -170.703857421875
                    }
                },
                "velocity": {
                    "x": -4.158578395843506,
                    "y": -0.6795481443405151,
                    "z": -0.039142489433288574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.848165512084961,
                "transform": {
                    "location": {
                        "x": 2988.669921875,
                        "y": 4261.765625,
                        "z": 361.2124938964844
                    },
                    "rotation": {
                        "roll": -0.0018005355959758162,
                        "pitch": -0.6151062846183777,
                        "yaw": -170.7718963623047
                    }
                },
                "velocity": {
                    "x": -10.707917213439941,
                    "y": -1.7358678579330444,
                    "z": -0.09986487030982971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.131481170654297,
                "transform": {
                    "location": {
                        "x": 3006.2109375,
                        "y": 4267.89892578125,
                        "z": 361.3763732910156
                    },
                    "rotation": {
                        "roll": 0.00038121649413369596,
                        "pitch": -0.3366668224334717,
                        "yaw": -170.73265075683594
                    }
                },
                "velocity": {
                    "x": -9.999085426330566,
                    "y": -1.6298620700836182,
                    "z": -0.09360630810260773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.560391426086426,
                "transform": {
                    "location": {
                        "x": 2986.99609375,
                        "y": 4264.787109375,
                        "z": 361.1981201171875
                    },
                    "rotation": {
                        "roll": 0.0020823597442358732,
                        "pitch": -0.27627429366111755,
                        "yaw": -170.79302978515625
                    }
                },
                "velocity": {
                    "x": -11.410947799682617,
                    "y": -1.8497284650802612,
                    "z": -0.10686276108026505
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9998836517333984,
        "expert_target_speed": 7.071154863131373,
        "target_point": [
            39.43220209137225,
            1.4213852932914506
        ],
        "target_point_next": [
            90.24991766514144,
            5.730172732810835
        ]
    },
    "100": {
        "acceleration": [
            4.6120452880859375,
            0.7299673557281494,
            0.6879660487174988
        ],
        "angular_velocity": [
            0.6824977397918701,
            -2.318864345550537,
            -6.329921245574951
        ],
        "forward_vector": [
            -0.9973770380020142,
            -0.059349048882722855,
            -0.04143279418349266
        ],
        "right_vector": [
            0.057388827204704285,
            -0.9972450733184814,
            0.04699763283133507
        ],
        "location": [
            3028.7587890625,
            4266.55810546875,
            361.6254577636719
        ],
        "rotation": [
            -2.696075201034546,
            -2.3746039867401123,
            -176.59461975097656
        ],
        "velocity": [
            -4.956876277923584,
            -0.2960277795791626,
            -0.08429092913866043
        ],
        "speed": 4.965707893233767,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.580106735229492,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3010.2255859375,
                4265.25732421875,
                361.40460205078125
            ],
            "velocity": [
                -4.935535430908203,
                -0.803088903427124,
                -0.0466202087700367
            ],
            "speed_kmh": 18.002388520879443,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2957.765625,
                        "y": 4266.740234375,
                        "z": 360.9587707519531
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2959.107666015625,
                        "y": 4263.6650390625,
                        "z": 360.96197509765625
                    },
                    "rotation": {
                        "roll": 3.335164366902177e-09,
                        "pitch": 0.46790891885757446,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049652099609375,
                "transform": {
                    "location": {
                        "x": 2997.56494140625,
                        "y": 4273.28125,
                        "z": 361.3066711425781
                    },
                    "rotation": {
                        "roll": 0.0012417447287589312,
                        "pitch": 0.5361834764480591,
                        "yaw": 9.21485710144043
                    }
                },
                "velocity": {
                    "x": 7.945454120635986,
                    "y": 1.2889546155929565,
                    "z": 0.07252243161201477
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034924507141113,
                "transform": {
                    "location": {
                        "x": 2998.975830078125,
                        "y": 4270.21875,
                        "z": 361.30914306640625
                    },
                    "rotation": {
                        "roll": 5.170218719285913e-05,
                        "pitch": 0.5273520350456238,
                        "yaw": 9.197975158691406
                    }
                },
                "velocity": {
                    "x": 7.931246280670166,
                    "y": 1.2843655347824097,
                    "z": 0.07586150616407394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.000663757324219,
                "transform": {
                    "location": {
                        "x": 3010.2255859375,
                        "y": 4265.25732421875,
                        "z": 361.40460205078125
                    },
                    "rotation": {
                        "roll": -0.0006713800830766559,
                        "pitch": -0.5158089995384216,
                        "yaw": -170.7161407470703
                    }
                },
                "velocity": {
                    "x": -4.935535430908203,
                    "y": -0.803088903427124,
                    "z": -0.0466202087700367
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.400012969970703,
                "transform": {
                    "location": {
                        "x": 2985.89501953125,
                        "y": 4261.3154296875,
                        "z": 361.1863098144531
                    },
                    "rotation": {
                        "roll": -0.0003051768580917269,
                        "pitch": -0.5894725918769836,
                        "yaw": -170.78848266601562
                    }
                },
                "velocity": {
                    "x": -11.252509117126465,
                    "y": -1.8249846696853638,
                    "z": -0.10374440997838974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.906261444091797,
                "transform": {
                    "location": {
                        "x": 3003.594970703125,
                        "y": 4267.47314453125,
                        "z": 361.35162353515625
                    },
                    "rotation": {
                        "roll": 0.002348830923438072,
                        "pitch": -0.4090258479118347,
                        "yaw": -170.7698211669922
                    }
                },
                "velocity": {
                    "x": -10.764775276184082,
                    "y": -1.748094081878662,
                    "z": -0.10160546004772186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.087571144104004,
                "transform": {
                    "location": {
                        "x": 2984.15673828125,
                        "y": 4264.32666015625,
                        "z": 361.1716003417969
                    },
                    "rotation": {
                        "roll": 0.0006806777673773468,
                        "pitch": -0.5390658378601074,
                        "yaw": -170.7858123779297
                    }
                },
                "velocity": {
                    "x": -10.944266319274902,
                    "y": -1.7739460468292236,
                    "z": -0.10190759599208832
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.001250147819519,
        "expert_target_speed": 5.875605863864662,
        "target_point": [
            38.0060913507325,
            2.0717650958164593
        ],
        "target_point_next": [
            88.74631288272428,
            7.213339195239982
        ]
    },
    "105": {
        "acceleration": [
            3.4957218170166016,
            -0.8380991220474243,
            -2.4279561042785645
        ],
        "angular_velocity": [
            12.711358070373535,
            7.398284435272217,
            -2.54068922996521
        ],
        "forward_vector": [
            -0.9979485869407654,
            -0.047278039157390594,
            -0.04316763952374458
        ],
        "right_vector": [
            0.045622680336236954,
            -0.9982143044471741,
            0.03855961188673973
        ],
        "location": [
            3027.709228515625,
            4266.51513671875,
            361.6104736328125
        ],
        "rotation": [
            -2.211913824081421,
            -2.474092483520508,
            -177.28762817382812
        ],
        "velocity": [
            -3.6759941577911377,
            -0.16280198097229004,
            -0.1563889980316162
        ],
        "speed": 3.679597468898341,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.83689308166504,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3008.930908203125,
                4265.046875,
                361.3927001953125
            ],
            "velocity": [
                -5.390032768249512,
                -0.8761137127876282,
                -0.05058041587471962
            ],
            "speed_kmh": 19.659621707773137,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.844664096832275,
                "transform": {
                    "location": {
                        "x": 2959.624267578125,
                        "y": 4267.0439453125,
                        "z": 360.9640197753906
                    },
                    "rotation": {
                        "roll": -0.0024108823854476213,
                        "pitch": 0.43445464968681335,
                        "yaw": 9.291078567504883
                    }
                },
                "velocity": {
                    "x": 6.747692108154297,
                    "y": 1.1479185819625854,
                    "z": 0.0189597699791193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.862494945526123,
                "transform": {
                    "location": {
                        "x": 2960.8115234375,
                        "y": 4263.953125,
                        "z": 360.9715881347656
                    },
                    "rotation": {
                        "roll": -0.019622795283794403,
                        "pitch": 0.30564412474632263,
                        "yaw": 9.59148120880127
                    }
                },
                "velocity": {
                    "x": 6.764331340789795,
                    "y": 1.1554728746414185,
                    "z": 0.050363168120384216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.024917602539062,
                "transform": {
                    "location": {
                        "x": 2999.54736328125,
                        "y": 4273.60302734375,
                        "z": 361.32513427734375
                    },
                    "rotation": {
                        "roll": 0.0009915604023262858,
                        "pitch": 0.5302138924598694,
                        "yaw": 9.21130084991455
                    }
                },
                "velocity": {
                    "x": 7.921127796173096,
                    "y": 1.2844228744506836,
                    "z": 0.07275234162807465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07958984375,
                "transform": {
                    "location": {
                        "x": 3000.964111328125,
                        "y": 4270.541015625,
                        "z": 361.3277587890625
                    },
                    "rotation": {
                        "roll": 0.0004339556908234954,
                        "pitch": 0.5302002429962158,
                        "yaw": 9.19615364074707
                    }
                },
                "velocity": {
                    "x": 7.975579261779785,
                    "y": 1.2899972200393677,
                    "z": 0.07632014900445938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.461006164550781,
                "transform": {
                    "location": {
                        "x": 3008.930908203125,
                        "y": 4265.046875,
                        "z": 361.3927001953125
                    },
                    "rotation": {
                        "roll": -0.0007629382889717817,
                        "pitch": -0.5208428502082825,
                        "yaw": -170.74530029296875
                    }
                },
                "velocity": {
                    "x": -5.390032768249512,
                    "y": -0.8761137127876282,
                    "z": -0.05058041587471962
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.08670425415039,
                "transform": {
                    "location": {
                        "x": 2983.232177734375,
                        "y": 4260.88330078125,
                        "z": 361.1604309082031
                    },
                    "rotation": {
                        "roll": 0.0007440776098519564,
                        "pitch": -0.42614230513572693,
                        "yaw": -170.78944396972656
                    }
                },
                "velocity": {
                    "x": -9.956222534179688,
                    "y": -1.614498257637024,
                    "z": -0.09287425875663757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.910008430480957,
                "transform": {
                    "location": {
                        "x": 3000.83251953125,
                        "y": 4267.0244140625,
                        "z": 361.3255310058594
                    },
                    "rotation": {
                        "roll": 0.001608699792996049,
                        "pitch": -0.5095525979995728,
                        "yaw": -170.77426147460938
                    }
                },
                "velocity": {
                    "x": -10.768795013427734,
                    "y": -1.746687412261963,
                    "z": -0.10205180943012238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.40590763092041,
                "transform": {
                    "location": {
                        "x": 2981.5986328125,
                        "y": 4263.91259765625,
                        "z": 361.14788818359375
                    },
                    "rotation": {
                        "roll": -9.154939471045509e-05,
                        "pitch": -0.7971171736717224,
                        "yaw": -170.79054260253906
                    }
                },
                "velocity": {
                    "x": -9.284423828125,
                    "y": -1.504374623298645,
                    "z": -0.08619537949562073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0002437829971313,
        "expert_target_speed": 4.702550520777306,
        "target_point": [
            36.92783484154983,
            2.5380501218766165
        ],
        "target_point_next": [
            87.60215662999327,
            8.292959036599049
        ]
    },
    "110": {
        "acceleration": [
            2.74045467376709,
            0.428556352853775,
            0.39008691906929016
        ],
        "angular_velocity": [
            2.17758846282959,
            1.879441261291504,
            -2.0804741382598877
        ],
        "forward_vector": [
            -0.9991137385368347,
            -0.03655172511935234,
            -0.020871790125966072
        ],
        "right_vector": [
            0.036426953971385956,
            -0.9993162751197815,
            0.006327314302325249
        ],
        "location": [
            3026.887939453125,
            4266.49169921875,
            361.5711975097656
        ],
        "rotation": [
            -0.3626098334789276,
            -1.1959524154663086,
            -177.90481567382812
        ],
        "velocity": [
            -2.8702385425567627,
            -0.08145400881767273,
            -0.06499457359313965
        ],
        "speed": 2.8713940946395424,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.48231315612793,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3007.479248046875,
                4264.810546875,
                361.3789367675781
            ],
            "velocity": [
                -6.128755569458008,
                -0.9961328506469727,
                -0.05831625685095787
            ],
            "speed_kmh": 22.354036514388042,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.037506103515625,
                "transform": {
                    "location": {
                        "x": 3040.075439453125,
                        "y": 4273.47509765625,
                        "z": 361.8981628417969
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -3.4657344818115234,
                    "y": -0.560804009437561,
                    "z": -1.9939008951187134
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5777387619018555,
                "transform": {
                    "location": {
                        "x": 2961.277099609375,
                        "y": 4267.32373046875,
                        "z": 360.9733581542969
                    },
                    "rotation": {
                        "roll": 0.0031468882225453854,
                        "pitch": 0.46133142709732056,
                        "yaw": 9.631634712219238
                    }
                },
                "velocity": {
                    "x": 6.482921123504639,
                    "y": 1.111689805984497,
                    "z": 0.05025223642587662
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.622186660766602,
                "transform": {
                    "location": {
                        "x": 2962.47314453125,
                        "y": 4264.2373046875,
                        "z": 360.98480224609375
                    },
                    "rotation": {
                        "roll": -0.0006103483610786498,
                        "pitch": 0.4267570376396179,
                        "yaw": 9.680665016174316
                    }
                },
                "velocity": {
                    "x": 6.527276039123535,
                    "y": 1.115828037261963,
                    "z": 0.05433755740523338
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03920841217041,
                "transform": {
                    "location": {
                        "x": 3001.529296875,
                        "y": 4273.92431640625,
                        "z": 361.34368896484375
                    },
                    "rotation": {
                        "roll": 4.092958988621831e-05,
                        "pitch": 0.540097177028656,
                        "yaw": 9.20593547821045
                    }
                },
                "velocity": {
                    "x": 7.93548583984375,
                    "y": 1.2850689888000488,
                    "z": 0.0743572786450386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0462007522583,
                "transform": {
                    "location": {
                        "x": 3002.954345703125,
                        "y": 4270.86279296875,
                        "z": 361.3464050292969
                    },
                    "rotation": {
                        "roll": 0.0004521628434304148,
                        "pitch": 0.5348242521286011,
                        "yaw": 9.192525863647461
                    }
                },
                "velocity": {
                    "x": 7.9425048828125,
                    "y": 1.2853825092315674,
                    "z": 0.075803242623806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.209454536437988,
                "transform": {
                    "location": {
                        "x": 3007.479248046875,
                        "y": 4264.810546875,
                        "z": 361.3789367675781
                    },
                    "rotation": {
                        "roll": 0.00016686627350281924,
                        "pitch": -0.5208770036697388,
                        "yaw": -170.763671875
                    }
                },
                "velocity": {
                    "x": -6.128755569458008,
                    "y": -0.9961328506469727,
                    "z": -0.05831625685095787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.879741668701172,
                "transform": {
                    "location": {
                        "x": 2980.916748046875,
                        "y": 4260.50830078125,
                        "z": 361.13885498046875
                    },
                    "rotation": {
                        "roll": -0.0006103526684455574,
                        "pitch": -0.39608946442604065,
                        "yaw": -170.79757690429688
                    }
                },
                "velocity": {
                    "x": -8.765127182006836,
                    "y": -1.4198449850082397,
                    "z": -0.0799373909831047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.764058113098145,
                "transform": {
                    "location": {
                        "x": 2998.296875,
                        "y": 4266.61376953125,
                        "z": 361.30169677734375
                    },
                    "rotation": {
                        "roll": 0.002494970103725791,
                        "pitch": -0.6630542278289795,
                        "yaw": -170.81979370117188
                    }
                },
                "velocity": {
                    "x": -9.63815975189209,
                    "y": -1.5603004693984985,
                    "z": -0.09038946032524109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.568571090698242,
                "transform": {
                    "location": {
                        "x": 2979.53857421875,
                        "y": 4263.578125,
                        "z": 361.12896728515625
                    },
                    "rotation": {
                        "roll": 0.0004580842505674809,
                        "pitch": -0.8854315280914307,
                        "yaw": -170.76803588867188
                    }
                },
                "velocity": {
                    "x": -7.470611572265625,
                    "y": -1.211881399154663,
                    "z": -0.06763444095849991
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9996799230575562,
        "expert_target_speed": 3.943458253706566,
        "target_point": [
            36.07675549056072,
            2.9422943641690256
        ],
        "target_point_next": [
            86.68614516706488,
            9.242734182722792
        ]
    },
    "115": {
        "acceleration": [
            0.5374956130981445,
            0.0032678991556167603,
            0.04548855125904083
        ],
        "angular_velocity": [
            0.5655437111854553,
            1.0555765628814697,
            -0.9403488039970398
        ],
        "forward_vector": [
            -0.9994348287582397,
            -0.029876969754695892,
            -0.015407904982566833
        ],
        "right_vector": [
            0.029860997572541237,
            -0.9995533227920532,
            0.0012659159256145358
        ],
        "location": [
            3026.2255859375,
            4266.4775390625,
            361.5596008300781
        ],
        "rotation": [
            -0.0725402683019638,
            -0.8828428983688354,
            -178.2877197265625
        ],
        "velocity": [
            -2.5176801681518555,
            -0.054819609969854355,
            -0.03076818957924843
        ],
        "speed": 2.518276914626825,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.530004501342773,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3005.78857421875,
                4264.53564453125,
                361.36285400390625
            ],
            "velocity": [
                -7.231060028076172,
                -1.17460298538208,
                -0.068022221326828
            ],
            "speed_kmh": 26.374158305025166,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.394667148590088,
                "transform": {
                    "location": {
                        "x": 3040.74462890625,
                        "y": 4270.291015625,
                        "z": 361.89959716796875
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -2.7173373699188232,
                    "y": -0.43970298767089844,
                    "z": -1.986580729484558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.457345962524414,
                "transform": {
                    "location": {
                        "x": 3039.2197265625,
                        "y": 4273.33203125,
                        "z": 361.65380859375
                    },
                    "rotation": {
                        "roll": -0.015258781611919403,
                        "pitch": -0.5630192756652832,
                        "yaw": -170.66525268554688
                    }
                },
                "velocity": {
                    "x": -3.4077324867248535,
                    "y": -0.5784666538238525,
                    "z": 0.07730697095394135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.770459175109863,
                "transform": {
                    "location": {
                        "x": 2962.9228515625,
                        "y": 4267.60546875,
                        "z": 360.9869384765625
                    },
                    "rotation": {
                        "roll": 0.003217286430299282,
                        "pitch": 0.47507378458976746,
                        "yaw": 9.738611221313477
                    }
                },
                "velocity": {
                    "x": 6.672307014465332,
                    "y": 1.1472489833831787,
                    "z": 0.05705343931913376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.702365875244141,
                "transform": {
                    "location": {
                        "x": 2964.021728515625,
                        "y": 4264.501953125,
                        "z": 360.9976806640625
                    },
                    "rotation": {
                        "roll": 0.0019781021401286125,
                        "pitch": 0.30008435249328613,
                        "yaw": 9.700830459594727
                    }
                },
                "velocity": {
                    "x": 5.620412349700928,
                    "y": 0.9621087312698364,
                    "z": 0.04787026345729828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0382661819458,
                "transform": {
                    "location": {
                        "x": 3003.513671875,
                        "y": 4274.2451171875,
                        "z": 361.36236572265625
                    },
                    "rotation": {
                        "roll": -0.0007324234466068447,
                        "pitch": 0.5392228960990906,
                        "yaw": 9.197358131408691
                    }
                },
                "velocity": {
                    "x": 7.934578895568848,
                    "y": 1.2847094535827637,
                    "z": 0.07551761716604233
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074446678161621,
                "transform": {
                    "location": {
                        "x": 3004.943115234375,
                        "y": 4271.18408203125,
                        "z": 361.36517333984375
                    },
                    "rotation": {
                        "roll": 0.0006326170405372977,
                        "pitch": 0.5343188643455505,
                        "yaw": 9.192315101623535
                    }
                },
                "velocity": {
                    "x": 7.970393657684326,
                    "y": 1.289839267730713,
                    "z": 0.07629755139350891
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.326155185699463,
                "transform": {
                    "location": {
                        "x": 3005.78857421875,
                        "y": 4264.53564453125,
                        "z": 361.36285400390625
                    },
                    "rotation": {
                        "roll": -0.0010986266424879432,
                        "pitch": -0.5092110633850098,
                        "yaw": -170.77125549316406
                    }
                },
                "velocity": {
                    "x": -7.231060028076172,
                    "y": -1.17460298538208,
                    "z": -0.068022221326828
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9544267654418945,
                "transform": {
                    "location": {
                        "x": 2979.098876953125,
                        "y": 4260.2138671875,
                        "z": 361.1213073730469
                    },
                    "rotation": {
                        "roll": -0.0003967286320403218,
                        "pitch": -0.25963595509529114,
                        "yaw": -170.8206787109375
                    }
                },
                "velocity": {
                    "x": -5.877768039703369,
                    "y": -0.9509201049804688,
                    "z": -0.05286495015025139
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.76977014541626,
                "transform": {
                    "location": {
                        "x": 2996.17138671875,
                        "y": 4266.26953125,
                        "z": 361.28167724609375
                    },
                    "rotation": {
                        "roll": 0.000882272026501596,
                        "pitch": -0.7897952198982239,
                        "yaw": -170.79776000976562
                    }
                },
                "velocity": {
                    "x": -7.669713973999023,
                    "y": -1.240818738937378,
                    "z": -0.07200536131858826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.855798244476318,
                "transform": {
                    "location": {
                        "x": 2977.930908203125,
                        "y": 4263.31787109375,
                        "z": 361.11431884765625
                    },
                    "rotation": {
                        "roll": 0.00024070993822533637,
                        "pitch": -1.0333529710769653,
                        "yaw": -170.65957641601562
                    }
                },
                "velocity": {
                    "x": -4.792553424835205,
                    "y": -0.7800233960151672,
                    "z": -0.042090270668268204
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9922154545783997,
        "expert_target_speed": 3.618825595488247,
        "target_point": [
            35.39380769991108,
            3.1889438977033446
        ],
        "target_point_next": [
            85.95996569417136,
            9.82743250844687
        ]
    },
    "120": {
        "acceleration": [
            -1.2925910949707031,
            0.01090213656425476,
            0.014611706137657166
        ],
        "angular_velocity": [
            0.27984797954559326,
            0.9022958874702454,
            -0.7918652296066284
        ],
        "forward_vector": [
            -0.9995884895324707,
            -0.026409341022372246,
            -0.01119876280426979
        ],
        "right_vector": [
            0.02641569823026657,
            -0.9996510148048401,
            -0.0004200389375910163
        ],
        "location": [
            3025.584716796875,
            4266.46435546875,
            361.5519714355469
        ],
        "rotation": [
            0.024067968130111694,
            -0.6416552662849426,
            -178.48658752441406
        ],
        "velocity": [
            -2.6613452434539795,
            -0.054033417254686356,
            -0.025291085243225098
        ],
        "speed": 2.661893708440542,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.833507537841797,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3003.867431640625,
                4264.22412109375,
                361.34478759765625
            ],
            "velocity": [
                -8.085341453552246,
                -1.3108185529708862,
                -0.07593374699354172
            ],
            "speed_kmh": 29.488539789675084,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.485836982727051,
                "transform": {
                    "location": {
                        "x": 3040.09814453125,
                        "y": 4270.181640625,
                        "z": 361.64453125
                    },
                    "rotation": {
                        "roll": -0.0036010697949677706,
                        "pitch": -0.5617079138755798,
                        "yaw": -170.63357543945312
                    }
                },
                "velocity": {
                    "x": -2.4469923973083496,
                    "y": -0.4191942512989044,
                    "z": 0.1260521113872528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4993293285369873,
                "transform": {
                    "location": {
                        "x": 3038.3642578125,
                        "y": 4273.18701171875,
                        "z": 361.6768798828125
                    },
                    "rotation": {
                        "roll": -0.008026122115552425,
                        "pitch": -0.5572477579116821,
                        "yaw": -170.50621032714844
                    }
                },
                "velocity": {
                    "x": -3.4491071701049805,
                    "y": -0.5892013907432556,
                    "z": 0.042497701942920685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8811469078063965,
                "transform": {
                    "location": {
                        "x": 2964.571533203125,
                        "y": 4267.888671875,
                        "z": 361.0008850097656
                    },
                    "rotation": {
                        "roll": 0.004256763029843569,
                        "pitch": 0.48820140957832336,
                        "yaw": 9.761738777160645
                    }
                },
                "velocity": {
                    "x": 6.781243801116943,
                    "y": 1.1669057607650757,
                    "z": 0.05697203427553177
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.710056304931641,
                "transform": {
                    "location": {
                        "x": 2965.40087890625,
                        "y": 4264.73828125,
                        "z": 361.0093994140625
                    },
                    "rotation": {
                        "roll": 0.0033001417759805918,
                        "pitch": 0.4387645125389099,
                        "yaw": 9.713028907775879
                    }
                },
                "velocity": {
                    "x": 5.627725124359131,
                    "y": 0.9649850726127625,
                    "z": 0.04750290885567665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030506134033203,
                "transform": {
                    "location": {
                        "x": 3005.495849609375,
                        "y": 4274.5654296875,
                        "z": 361.3811340332031
                    },
                    "rotation": {
                        "roll": -0.0002441433316562325,
                        "pitch": 0.5381710529327393,
                        "yaw": 9.193337440490723
                    }
                },
                "velocity": {
                    "x": 7.927013874053955,
                    "y": 1.2828876972198486,
                    "z": 0.07531674951314926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046152114868164,
                "transform": {
                    "location": {
                        "x": 3006.93212890625,
                        "y": 4271.505859375,
                        "z": 361.3839416503906
                    },
                    "rotation": {
                        "roll": 0.00048734579468145967,
                        "pitch": 0.533909022808075,
                        "yaw": 9.193391799926758
                    }
                },
                "velocity": {
                    "x": 7.942330360412598,
                    "y": 1.2861971855163574,
                    "z": 0.07518485933542252
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.191261291503906,
                "transform": {
                    "location": {
                        "x": 3003.867431640625,
                        "y": 4264.22412109375,
                        "z": 361.34478759765625
                    },
                    "rotation": {
                        "roll": 0.0005018289084546268,
                        "pitch": -0.513213574886322,
                        "yaw": -170.78390502929688
                    }
                },
                "velocity": {
                    "x": -8.085341453552246,
                    "y": -1.3108185529708862,
                    "z": -0.07593374699354172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.051290512084961,
                "transform": {
                    "location": {
                        "x": 2978.0478515625,
                        "y": 4260.04345703125,
                        "z": 361.1104736328125
                    },
                    "rotation": {
                        "roll": 0.00025939359329640865,
                        "pitch": -0.1275606006383896,
                        "yaw": -170.68887329101562
                    }
                },
                "velocity": {
                    "x": -2.024078130722046,
                    "y": -0.332474023103714,
                    "z": -0.019009379670023918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.239917755126953,
                "transform": {
                    "location": {
                        "x": 2994.361572265625,
                        "y": 4265.9775390625,
                        "z": 361.26495361328125
                    },
                    "rotation": {
                        "roll": 0.0003674538165796548,
                        "pitch": -0.6594820618629456,
                        "yaw": -170.83753967285156
                    }
                },
                "velocity": {
                    "x": -7.1468505859375,
                    "y": -1.1551647186279297,
                    "z": -0.06734421849250793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.007355446927249432,
                "transform": {
                    "location": {
                        "x": 2977.4501953125,
                        "y": 4263.23876953125,
                        "z": 361.1096496582031
                    },
                    "rotation": {
                        "roll": -0.004089348949491978,
                        "pitch": -1.4782031774520874,
                        "yaw": -171.07888793945312
                    }
                },
                "velocity": {
                    "x": 0.007131859660148621,
                    "y": 0.0008717636810615659,
                    "z": 0.0015745500568300486
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9407801032066345,
        "expert_target_speed": 3.7752792449029133,
        "target_point": [
            34.74153067046219,
            3.3155365077714243
        ],
        "target_point_next": [
            85.28433935890004,
            10.129518839670649
        ]
    },
    "125": {
        "acceleration": [
            -2.8737497329711914,
            -0.015317648649215698,
            -0.02000216394662857
        ],
        "angular_velocity": [
            0.14080460369586945,
            0.7794614434242249,
            -0.6433208584785461
        ],
        "forward_vector": [
            -0.9996976256370544,
            -0.023399798199534416,
            -0.007553266827017069
        ],
        "right_vector": [
            0.023409375920891762,
            -0.9997252225875854,
            -0.0011819484643638134
        ],
        "location": [
            3024.85205078125,
            4266.44970703125,
            361.54412841796875
        ],
        "rotation": [
            0.06772260367870331,
            -0.4327744245529175,
            -178.6591339111328
        ],
        "velocity": [
            -3.226053476333618,
            -0.05861199274659157,
            -0.029986204579472542
        ],
        "speed": 3.226585873312215,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.246492385864258,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                3001.7490234375,
                4263.88037109375,
                361.3249206542969
            ],
            "velocity": [
                -8.837408065795898,
                -1.4332396984100342,
                -0.0825536698102951
            ],
            "speed_kmh": 32.23171747082493,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5977723598480225,
                "transform": {
                    "location": {
                        "x": 3039.4501953125,
                        "y": 4270.0712890625,
                        "z": 361.67138671875
                    },
                    "rotation": {
                        "roll": -0.003326416015625,
                        "pitch": -0.5573707222938538,
                        "yaw": -170.5061492919922
                    }
                },
                "velocity": {
                    "x": -2.5595507621765137,
                    "y": -0.4414128363132477,
                    "z": 0.047699976712465286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.703664779663086,
                "transform": {
                    "location": {
                        "x": 3037.358642578125,
                        "y": 4273.01416015625,
                        "z": 361.6761169433594
                    },
                    "rotation": {
                        "roll": -0.009002686478197575,
                        "pitch": -0.36996400356292725,
                        "yaw": -170.3838348388672
                    }
                },
                "velocity": {
                    "x": -4.635828495025635,
                    "y": -0.7953600883483887,
                    "z": -0.03098837286233902
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.114689826965332,
                "transform": {
                    "location": {
                        "x": 2966.412841796875,
                        "y": 4268.20263671875,
                        "z": 361.0164489746094
                    },
                    "rotation": {
                        "roll": 0.004886718466877937,
                        "pitch": 0.508172869682312,
                        "yaw": 9.648497581481934
                    }
                },
                "velocity": {
                    "x": 8.002165794372559,
                    "y": 1.3448994159698486,
                    "z": 0.06915803998708725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.254732131958008,
                "transform": {
                    "location": {
                        "x": 2966.924560546875,
                        "y": 4264.99462890625,
                        "z": 361.02252197265625
                    },
                    "rotation": {
                        "roll": 0.014194469898939133,
                        "pitch": 0.7450916171073914,
                        "yaw": 9.579139709472656
                    }
                },
                "velocity": {
                    "x": 7.154891014099121,
                    "y": 1.1978950500488281,
                    "z": 0.06101818010210991
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040142059326172,
                "transform": {
                    "location": {
                        "x": 3007.47900390625,
                        "y": 4274.88623046875,
                        "z": 361.39984130859375
                    },
                    "rotation": {
                        "roll": 0.00018266562256030738,
                        "pitch": 0.5396941900253296,
                        "yaw": 9.198348999023438
                    }
                },
                "velocity": {
                    "x": 7.936402797698975,
                    "y": 1.2852226495742798,
                    "z": 0.07486701756715775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077446937561035,
                "transform": {
                    "location": {
                        "x": 3008.921875,
                        "y": 4271.828125,
                        "z": 361.4026794433594
                    },
                    "rotation": {
                        "roll": 0.00036548436037264764,
                        "pitch": 0.5340251326560974,
                        "yaw": 9.195073127746582
                    }
                },
                "velocity": {
                    "x": 7.973293304443359,
                    "y": 1.2906935214996338,
                    "z": 0.07655855268239975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.953254699707031,
                "transform": {
                    "location": {
                        "x": 3001.7490234375,
                        "y": 4263.88037109375,
                        "z": 361.3249206542969
                    },
                    "rotation": {
                        "roll": -0.0007934540044516325,
                        "pitch": -0.5110483765602112,
                        "yaw": -170.7882080078125
                    }
                },
                "velocity": {
                    "x": -8.837408065795898,
                    "y": -1.4332396984100342,
                    "z": -0.0825536698102951
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8942599296569824,
                "transform": {
                    "location": {
                        "x": 2977.8720703125,
                        "y": 4260.01513671875,
                        "z": 361.11053466796875
                    },
                    "rotation": {
                        "roll": -0.001983643975108862,
                        "pitch": -0.3199123740196228,
                        "yaw": -170.7134246826172
                    }
                },
                "velocity": {
                    "x": -0.8829274773597717,
                    "y": -0.141727477312088,
                    "z": -0.007290277164429426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.862414836883545,
                "transform": {
                    "location": {
                        "x": 2992.487060546875,
                        "y": 4265.673828125,
                        "z": 361.24755859375
                    },
                    "rotation": {
                        "roll": 0.000207477729418315,
                        "pitch": -0.4842262268066406,
                        "yaw": -170.78948974609375
                    }
                },
                "velocity": {
                    "x": -7.761148929595947,
                    "y": -1.255727767944336,
                    "z": -0.07268688082695007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8029869794845581,
                "transform": {
                    "location": {
                        "x": 2977.36376953125,
                        "y": 4263.22509765625,
                        "z": 361.1092224121094
                    },
                    "rotation": {
                        "roll": 0.00042440672405064106,
                        "pitch": -0.6565860509872437,
                        "yaw": -171.05490112304688
                    }
                },
                "velocity": {
                    "x": -0.792762279510498,
                    "y": -0.1276233196258545,
                    "z": -0.005325202830135822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8051314353942871,
        "expert_target_speed": 4.338116766025036,
        "target_point": [
            33.998581173716275,
            3.4226363146724674
        ],
        "target_point_next": [
            84.52064230001352,
            10.388783376438257
        ]
    },
    "130": {
        "acceleration": [
            -3.7876224517822266,
            -0.07314607501029968,
            -0.03265008330345154
        ],
        "angular_velocity": [
            0.02127222530543804,
            0.5695582628250122,
            -0.7042401432991028
        ],
        "forward_vector": [
            -0.9997845888137817,
            -0.020267000421881676,
            -0.004477843176573515
        ],
        "right_vector": [
            0.020273931324481964,
            -0.9997933506965637,
            -0.0015076404670253396
        ],
        "location": [
            3023.932373046875,
            4266.43359375,
            361.5347595214844
        ],
        "rotation": [
            0.08638233691453934,
            -0.25656238198280334,
            -178.8386993408203
        ],
        "velocity": [
            -4.115952491760254,
            -0.0675986111164093,
            -0.0388147346675396
        ],
        "speed": 4.116507559406676,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.677268981933594,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2999.4306640625,
                4263.50439453125,
                361.3031921386719
            ],
            "velocity": [
                -9.680500030517578,
                -1.5690563917160034,
                -0.08996409177780151
            ],
            "speed_kmh": 35.306092617479266,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1021721363067627,
                "transform": {
                    "location": {
                        "x": 3038.766845703125,
                        "y": 4269.95361328125,
                        "z": 361.6730041503906
                    },
                    "rotation": {
                        "roll": -0.0045471168123185635,
                        "pitch": -0.5222772359848022,
                        "yaw": -170.48907470703125
                    }
                },
                "velocity": {
                    "x": -3.056777000427246,
                    "y": -0.5284799933433533,
                    "z": -0.017154645174741745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.426173210144043,
                "transform": {
                    "location": {
                        "x": 3036.06689453125,
                        "y": 4272.79248046875,
                        "z": 361.6653137207031
                    },
                    "rotation": {
                        "roll": -0.010192875750362873,
                        "pitch": -0.3962738811969757,
                        "yaw": -170.26060485839844
                    }
                },
                "velocity": {
                    "x": -5.347102642059326,
                    "y": -0.9216132760047913,
                    "z": -0.049758151173591614
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.26915454864502,
                "transform": {
                    "location": {
                        "x": 2968.479248046875,
                        "y": 4268.54931640625,
                        "z": 361.03436279296875
                    },
                    "rotation": {
                        "roll": 0.0036013941280543804,
                        "pitch": 0.4995805025100708,
                        "yaw": 9.49796199798584
                    }
                },
                "velocity": {
                    "x": 8.156231880187988,
                    "y": 1.3600112199783325,
                    "z": 0.07189502567052841
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.433176040649414,
                "transform": {
                    "location": {
                        "x": 2968.9267578125,
                        "y": 4265.3291015625,
                        "z": 361.0397644042969
                    },
                    "rotation": {
                        "roll": 0.009325445629656315,
                        "pitch": 0.7583422064781189,
                        "yaw": 9.481904983520508
                    }
                },
                "velocity": {
                    "x": 8.318235397338867,
                    "y": 1.3856873512268066,
                    "z": 0.07273072749376297
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033787727355957,
                "transform": {
                    "location": {
                        "x": 3009.462646484375,
                        "y": 4275.20654296875,
                        "z": 361.4186706542969
                    },
                    "rotation": {
                        "roll": -0.0004272527585271746,
                        "pitch": 0.5422486662864685,
                        "yaw": 9.198495864868164
                    }
                },
                "velocity": {
                    "x": 7.930119037628174,
                    "y": 1.28416907787323,
                    "z": 0.07656510919332504
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042974472045898,
                "transform": {
                    "location": {
                        "x": 3010.91064453125,
                        "y": 4272.14990234375,
                        "z": 361.421630859375
                    },
                    "rotation": {
                        "roll": 0.00027974339900538325,
                        "pitch": 0.5411353707313538,
                        "yaw": 9.195287704467773
                    }
                },
                "velocity": {
                    "x": 7.939270973205566,
                    "y": 1.2851948738098145,
                    "z": 0.07545499503612518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.80724811553955,
                "transform": {
                    "location": {
                        "x": 2999.4306640625,
                        "y": 4263.50439453125,
                        "z": 361.3031921386719
                    },
                    "rotation": {
                        "roll": 0.0008068811148405075,
                        "pitch": -0.5083914399147034,
                        "yaw": -170.79298400878906
                    }
                },
                "velocity": {
                    "x": -9.680500030517578,
                    "y": -1.5690563917160034,
                    "z": -0.08996409177780151
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7932701110839844,
                "transform": {
                    "location": {
                        "x": 2977.53076171875,
                        "y": 4259.95947265625,
                        "z": 361.1095275878906
                    },
                    "rotation": {
                        "roll": -0.000793451676145196,
                        "pitch": -0.5695489645004272,
                        "yaw": -170.742431640625
                    }
                },
                "velocity": {
                    "x": -1.770264983177185,
                    "y": -0.28588756918907166,
                    "z": -0.01573629304766655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.877025604248047,
                "transform": {
                    "location": {
                        "x": 2990.650146484375,
                        "y": 4265.376953125,
                        "z": 361.2303161621094
                    },
                    "rotation": {
                        "roll": 9.825670713325962e-05,
                        "pitch": -0.6355559229850769,
                        "yaw": -170.82760620117188
                    }
                },
                "velocity": {
                    "x": -6.788456916809082,
                    "y": -1.098341703414917,
                    "z": -0.06305726617574692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0292141437530518,
                "transform": {
                    "location": {
                        "x": 2977.00830078125,
                        "y": 4263.16796875,
                        "z": 361.1061096191406
                    },
                    "rotation": {
                        "roll": -0.0010681126732379198,
                        "pitch": -0.337643563747406,
                        "yaw": -171.02761840820312
                    }
                },
                "velocity": {
                    "x": -2.0034756660461426,
                    "y": -0.3216780722141266,
                    "z": -0.017849158495664597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.7061225175857544,
        "expert_target_speed": 5.202371472840662,
        "target_point": [
            33.067871395086286,
            3.5317086001768514
        ],
        "target_point_next": [
            83.5678507540234,
            10.656169989109461
        ]
    },
    "135": {
        "acceleration": [
            -4.1886138916015625,
            -0.2966739237308502,
            0.04776179790496826
        ],
        "angular_velocity": [
            -0.18407167494297028,
            0.3421519994735718,
            0.752890408039093
        ],
        "forward_vector": [
            -0.9997828602790833,
            -0.020661868155002594,
            -0.0027004447765648365
        ],
        "right_vector": [
            0.020664507523179054,
            -0.9997859597206116,
            -0.0009533532429486513
        ],
        "location": [
            3022.77587890625,
            4266.40966796875,
            361.5235900878906
        ],
        "rotation": [
            0.0546233244240284,
            -0.15472427010536194,
            -178.81607055664062
        ],
        "velocity": [
            -5.112096309661865,
            -0.12272059917449951,
            -0.043665822595357895
        ],
        "speed": 5.113569108237436,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.05472755432129,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2996.933349609375,
                4263.10009765625,
                361.280029296875
            ],
            "velocity": [
                -9.949125289916992,
                -1.6108421087265015,
                -0.09464646875858307
            ],
            "speed_kmh": 36.2848684876958,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.470429420471191,
                "transform": {
                    "location": {
                        "x": 3037.817626953125,
                        "y": 4269.7880859375,
                        "z": 361.6649169921875
                    },
                    "rotation": {
                        "roll": -0.0003051778767257929,
                        "pitch": -0.4751557409763336,
                        "yaw": -170.705810546875
                    }
                },
                "velocity": {
                    "x": -4.405929088592529,
                    "y": -0.7555491328239441,
                    "z": -0.04093480482697487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.330270767211914,
                "transform": {
                    "location": {
                        "x": 3034.58984375,
                        "y": 4272.5380859375,
                        "z": 361.651123046875
                    },
                    "rotation": {
                        "roll": 0.0003058142610825598,
                        "pitch": -0.37512078881263733,
                        "yaw": -170.19874572753906
                    }
                },
                "velocity": {
                    "x": -6.240012168884277,
                    "y": -1.0634263753890991,
                    "z": -0.060854557901620865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.883491039276123,
                "transform": {
                    "location": {
                        "x": 2970.4580078125,
                        "y": 4268.87890625,
                        "z": 361.0517578125
                    },
                    "rotation": {
                        "roll": 0.0020645230542868376,
                        "pitch": 0.4890346825122833,
                        "yaw": 9.431689262390137
                    }
                },
                "velocity": {
                    "x": 7.777559757232666,
                    "y": 1.2862151861190796,
                    "z": 0.06816823780536652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.847896575927734,
                "transform": {
                    "location": {
                        "x": 2970.927490234375,
                        "y": 4265.66162109375,
                        "z": 361.0570983886719
                    },
                    "rotation": {
                        "roll": 0.010294723324477673,
                        "pitch": 0.47353699803352356,
                        "yaw": 9.432718276977539
                    }
                },
                "velocity": {
                    "x": 7.742616176605225,
                    "y": 1.2793360948562622,
                    "z": 0.06834837049245834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036605834960938,
                "transform": {
                    "location": {
                        "x": 3011.4453125,
                        "y": 4275.52734375,
                        "z": 361.4375
                    },
                    "rotation": {
                        "roll": -3.0517139748553745e-05,
                        "pitch": 0.5494818687438965,
                        "yaw": 9.193489074707031
                    }
                },
                "velocity": {
                    "x": 7.933021545410156,
                    "y": 1.2839350700378418,
                    "z": 0.07553277909755707
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078065872192383,
                "transform": {
                    "location": {
                        "x": 3012.900146484375,
                        "y": 4272.47216796875,
                        "z": 361.4406433105469
                    },
                    "rotation": {
                        "roll": 8.025834540603682e-05,
                        "pitch": 0.5447075366973877,
                        "yaw": 9.195167541503906
                    }
                },
                "velocity": {
                    "x": 7.973897457122803,
                    "y": 1.2908152341842651,
                    "z": 0.07679841667413712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.079130172729492,
                "transform": {
                    "location": {
                        "x": 2996.933349609375,
                        "y": 4263.10009765625,
                        "z": 361.280029296875
                    },
                    "rotation": {
                        "roll": 0.0008079429971985519,
                        "pitch": -0.5180288553237915,
                        "yaw": -170.803466796875
                    }
                },
                "velocity": {
                    "x": -9.949125289916992,
                    "y": -1.6108421087265015,
                    "z": -0.09464646875858307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7119133472442627,
                "transform": {
                    "location": {
                        "x": 2976.970458984375,
                        "y": 4259.86865234375,
                        "z": 361.1047668457031
                    },
                    "rotation": {
                        "roll": -0.0016784695908427238,
                        "pitch": -0.5956743955612183,
                        "yaw": -170.7606964111328
                    }
                },
                "velocity": {
                    "x": -2.6770284175872803,
                    "y": -0.4329448938369751,
                    "z": -0.023502983152866364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6449625492095947,
                "transform": {
                    "location": {
                        "x": 2989.3837890625,
                        "y": 4265.1748046875,
                        "z": 361.2176208496094
                    },
                    "rotation": {
                        "roll": 0.019994884729385376,
                        "pitch": -1.0723259449005127,
                        "yaw": -170.0725555419922
                    }
                },
                "velocity": {
                    "x": -2.618790864944458,
                    "y": -0.37034282088279724,
                    "z": -0.024648746475577354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4647481441497803,
                "transform": {
                    "location": {
                        "x": 2976.33935546875,
                        "y": 4263.06005859375,
                        "z": 361.10009765625
                    },
                    "rotation": {
                        "roll": 0.00032462860690429807,
                        "pitch": -0.24032019078731537,
                        "yaw": -170.9651641845703
                    }
                },
                "velocity": {
                    "x": -3.4206488132476807,
                    "y": -0.550183117389679,
                    "z": -0.030642922967672348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5840194225311279,
        "expert_target_speed": 6.137053173121277,
        "target_point": [
            31.9125232842626,
            3.5186117929992102
        ],
        "target_point_next": [
            82.41531498291778,
            10.623110084765504
        ]
    },
    "140": {
        "acceleration": [
            0.10802268981933594,
            -0.19416451454162598,
            0.010578632354736328
        ],
        "angular_velocity": [
            0.0029588458128273487,
            -0.9112417697906494,
            2.331012725830078
        ],
        "forward_vector": [
            -0.9995778203010559,
            -0.028472064062952995,
            -0.005788055714219809
        ],
        "right_vector": [
            0.028472620993852615,
            -0.9995945692062378,
            -1.3705415767617524e-05
        ],
        "location": [
            3021.462646484375,
            4266.36962890625,
            361.51190185546875
        ],
        "rotation": [
            0.0007852755952626467,
            -0.3316330015659332,
            -178.36842346191406
        ],
        "velocity": [
            -5.2594218254089355,
            -0.1997528374195099,
            -0.04905816540122032
        ],
        "speed": 5.263213764768158,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.14586639404297,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.987920761108398,
                "transform": {
                    "location": {
                        "x": 3036.498291015625,
                        "y": 4269.5634765625,
                        "z": 361.6521911621094
                    },
                    "rotation": {
                        "roll": -0.00323486328125,
                        "pitch": -0.4548359215259552,
                        "yaw": -170.47454833984375
                    }
                },
                "velocity": {
                    "x": -5.90142297744751,
                    "y": -1.0124993324279785,
                    "z": -0.05697996914386749
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.53508186340332,
                "transform": {
                    "location": {
                        "x": 3032.742431640625,
                        "y": 4272.22607421875,
                        "z": 361.63323974609375
                    },
                    "rotation": {
                        "roll": 0.009100018069148064,
                        "pitch": -0.17617788910865784,
                        "yaw": -170.39453125
                    }
                },
                "velocity": {
                    "x": -8.41663646697998,
                    "y": -1.4146429300308228,
                    "z": -0.08152274042367935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.136226654052734,
                "transform": {
                    "location": {
                        "x": 2972.428466796875,
                        "y": 4269.2041015625,
                        "z": 361.0689697265625
                    },
                    "rotation": {
                        "roll": 0.0015299408696591854,
                        "pitch": 0.5018208026885986,
                        "yaw": 9.342979431152344
                    }
                },
                "velocity": {
                    "x": 8.0286865234375,
                    "y": 1.316572666168213,
                    "z": 0.07081819325685501
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049427032470703,
                "transform": {
                    "location": {
                        "x": 2972.869873046875,
                        "y": 4265.98095703125,
                        "z": 361.07421875
                    },
                    "rotation": {
                        "roll": 0.008458426222205162,
                        "pitch": 0.524278461933136,
                        "yaw": 9.342635154724121
                    }
                },
                "velocity": {
                    "x": 7.942880153656006,
                    "y": 1.3034865856170654,
                    "z": 0.06964650750160217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036206245422363,
                "transform": {
                    "location": {
                        "x": 3013.4287109375,
                        "y": 4275.84716796875,
                        "z": 361.45654296875
                    },
                    "rotation": {
                        "roll": 0.0004980564117431641,
                        "pitch": 0.5495296716690063,
                        "yaw": 9.19699764251709
                    }
                },
                "velocity": {
                    "x": 7.932542324066162,
                    "y": 1.2843618392944336,
                    "z": 0.0761178731918335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043234825134277,
                "transform": {
                    "location": {
                        "x": 3014.889404296875,
                        "y": 4272.7939453125,
                        "z": 361.4597473144531
                    },
                    "rotation": {
                        "roll": 5.5294342018896714e-05,
                        "pitch": 0.5441064834594727,
                        "yaw": 9.194233894348145
                    }
                },
                "velocity": {
                    "x": 7.939667701721191,
                    "y": 1.2843323945999146,
                    "z": 0.07617038488388062
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7610690593719482,
                "transform": {
                    "location": {
                        "x": 2989.206298828125,
                        "y": 4265.1494140625,
                        "z": 361.2162780761719
                    },
                    "rotation": {
                        "roll": -0.02310180850327015,
                        "pitch": -0.8893452286720276,
                        "yaw": -169.7147216796875
                    }
                },
                "velocity": {
                    "x": -0.7503095269203186,
                    "y": -0.12735755741596222,
                    "z": -0.006457442883402109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.957469940185547,
                "transform": {
                    "location": {
                        "x": 2975.287353515625,
                        "y": 4262.890625,
                        "z": 361.09075927734375
                    },
                    "rotation": {
                        "roll": -0.001068115932866931,
                        "pitch": -0.2033347189426422,
                        "yaw": -170.90231323242188
                    }
                },
                "velocity": {
                    "x": -4.894108295440674,
                    "y": -0.7888752818107605,
                    "z": -0.0434710793197155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.45250990986824036,
        "expert_target_speed": 6.323126845180484,
        "target_point": [
            30.62519825316465,
            3.266558413374008
        ],
        "target_point_next": [
            81.18195206505904,
            9.976290847604695
        ]
    },
    "145": {
        "acceleration": [
            -4.938011169433594,
            -0.704798698425293,
            -0.031077265739440918
        ],
        "angular_velocity": [
            -0.3131062686443329,
            0.8478683233261108,
            3.553532600402832
        ],
        "forward_vector": [
            -0.9991487264633179,
            -0.041212886571884155,
            -0.001814602641388774
        ],
        "right_vector": [
            0.041211456060409546,
            -0.9991500973701477,
            0.0008186541381292045
        ],
        "location": [
            3019.9931640625,
            4266.3046875,
            361.49713134765625
        ],
        "rotation": [
            -0.0469055101275444,
            -0.10396913439035416,
            -177.63800048828125
        ],
        "velocity": [
            -6.645816326141357,
            -0.3477374315261841,
            -0.06238861382007599
        ],
        "speed": 6.65490765992222,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.68533325195312,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.633507251739502,
                "transform": {
                    "location": {
                        "x": 3034.885986328125,
                        "y": 4269.2880859375,
                        "z": 361.6363525390625
                    },
                    "rotation": {
                        "roll": -0.0018005348974838853,
                        "pitch": -0.42651113867759705,
                        "yaw": -170.41033935546875
                    }
                },
                "velocity": {
                    "x": -7.527527809143066,
                    "y": -1.2654848098754883,
                    "z": -0.07285277545452118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.608625411987305,
                "transform": {
                    "location": {
                        "x": 3030.466064453125,
                        "y": 4271.8447265625,
                        "z": 361.6111145019531
                    },
                    "rotation": {
                        "roll": 0.004818514455109835,
                        "pitch": -0.2810349464416504,
                        "yaw": -170.49623107910156
                    }
                },
                "velocity": {
                    "x": -9.47675609588623,
                    "y": -1.5838088989257812,
                    "z": -0.09124791622161865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088597297668457,
                "transform": {
                    "location": {
                        "x": 2974.439697265625,
                        "y": 4269.53369140625,
                        "z": 361.08685302734375
                    },
                    "rotation": {
                        "roll": 0.0012826451566070318,
                        "pitch": 0.508097767829895,
                        "yaw": 9.288394927978516
                    }
                },
                "velocity": {
                    "x": 7.982429027557373,
                    "y": 1.3042069673538208,
                    "z": 0.07261428982019424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.12054443359375,
                "transform": {
                    "location": {
                        "x": 2974.881591796875,
                        "y": 4266.310546875,
                        "z": 361.0920104980469
                    },
                    "rotation": {
                        "roll": 0.00558800995349884,
                        "pitch": 0.5291483998298645,
                        "yaw": 9.306734085083008
                    }
                },
                "velocity": {
                    "x": 8.013477325439453,
                    "y": 1.3123440742492676,
                    "z": 0.07194671779870987
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.984942436218262,
                "transform": {
                    "location": {
                        "x": 3015.409423828125,
                        "y": 4276.16845703125,
                        "z": 361.4755859375
                    },
                    "rotation": {
                        "roll": -0.0008239783346652985,
                        "pitch": 0.5413607358932495,
                        "yaw": 9.203442573547363
                    }
                },
                "velocity": {
                    "x": 7.881657600402832,
                    "y": 1.2779178619384766,
                    "z": 0.07553144544363022
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.87733793258667,
                "transform": {
                    "location": {
                        "x": 3016.861083984375,
                        "y": 4273.11279296875,
                        "z": 361.47869873046875
                    },
                    "rotation": {
                        "roll": -0.0011596695985645056,
                        "pitch": 0.5406299233436584,
                        "yaw": 9.191160202026367
                    }
                },
                "velocity": {
                    "x": 7.775984287261963,
                    "y": 1.25729501247406,
                    "z": 0.07569888979196548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7557283639907837,
                "transform": {
                    "location": {
                        "x": 2988.876220703125,
                        "y": 4265.09375,
                        "z": 361.2137451171875
                    },
                    "rotation": {
                        "roll": -0.00900268368422985,
                        "pitch": -0.48623430728912354,
                        "yaw": -169.8440704345703
                    }
                },
                "velocity": {
                    "x": -1.731242299079895,
                    "y": -0.29176780581474304,
                    "z": -0.015927046537399292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.501306056976318,
                "transform": {
                    "location": {
                        "x": 2973.970458984375,
                        "y": 4262.6787109375,
                        "z": 361.0793151855469
                    },
                    "rotation": {
                        "roll": -0.00042724833474494517,
                        "pitch": -0.350955605506897,
                        "yaw": -170.855224609375
                    }
                },
                "velocity": {
                    "x": -5.4307122230529785,
                    "y": -0.8770670890808105,
                    "z": -0.04984992742538452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2917841970920563,
        "expert_target_speed": 7.5427095729085325,
        "target_point": [
            29.193442481118783,
            2.8715474908786334
        ],
        "target_point_next": [
            79.83162602996599,
            8.936218315311331
        ]
    },
    "150": {
        "acceleration": [
            -4.534492492675781,
            -0.792422890663147,
            -0.022909343242645264
        ],
        "angular_velocity": [
            -0.2156190574169159,
            0.11797013878822327,
            4.318310737609863
        ],
        "forward_vector": [
            -0.9982849955558777,
            -0.058538950979709625,
            -0.0004628896131180227
        ],
        "right_vector": [
            0.05853801965713501,
            -0.9982835054397583,
            0.001825861632823944
        ],
        "location": [
            3018.178466796875,
            4266.197265625,
            361.4795227050781
        ],
        "rotation": [
            -0.1046142429113388,
            -0.026521623134613037,
            -176.64404296875
        ],
        "velocity": [
            -7.822709560394287,
            -0.5372586250305176,
            -0.07355475425720215
        ],
        "speed": 7.841137143071396,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 86.87764739990234,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.285043716430664,
                "transform": {
                    "location": {
                        "x": 3033.020751953125,
                        "y": 4268.9755859375,
                        "z": 361.6190490722656
                    },
                    "rotation": {
                        "roll": 0.0004967643180862069,
                        "pitch": -0.5332260131835938,
                        "yaw": -170.5052490234375
                    }
                },
                "velocity": {
                    "x": -7.185482025146484,
                    "y": -1.1982659101486206,
                    "z": -0.06976713240146637
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.944129943847656,
                "transform": {
                    "location": {
                        "x": 3027.95751953125,
                        "y": 4271.42919921875,
                        "z": 361.5867614746094
                    },
                    "rotation": {
                        "roll": 0.012594331055879593,
                        "pitch": -0.2677638828754425,
                        "yaw": -170.6186981201172
                    }
                },
                "velocity": {
                    "x": -10.797982215881348,
                    "y": -1.7794970273971558,
                    "z": -0.10459822416305542
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.988984107971191,
                "transform": {
                    "location": {
                        "x": 2976.41455078125,
                        "y": 4269.85595703125,
                        "z": 361.1046447753906
                    },
                    "rotation": {
                        "roll": 0.0009727331926114857,
                        "pitch": 0.5080567598342896,
                        "yaw": 9.251959800720215
                    }
                },
                "velocity": {
                    "x": 7.885019779205322,
                    "y": 1.2826566696166992,
                    "z": 0.07155384123325348
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.945667266845703,
                "transform": {
                    "location": {
                        "x": 2976.85498046875,
                        "y": 4266.6328125,
                        "z": 361.1097106933594
                    },
                    "rotation": {
                        "roll": 0.004257311578840017,
                        "pitch": 0.4910222589969635,
                        "yaw": 9.271696090698242
                    }
                },
                "velocity": {
                    "x": 7.841904163360596,
                    "y": 1.277921438217163,
                    "z": 0.07129035890102386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.618476867675781,
                "transform": {
                    "location": {
                        "x": 3017.3359375,
                        "y": 4276.48095703125,
                        "z": 361.4941711425781
                    },
                    "rotation": {
                        "roll": 0.00044645328307524323,
                        "pitch": 0.49087199568748474,
                        "yaw": 9.20334529876709
                    }
                },
                "velocity": {
                    "x": 7.520225524902344,
                    "y": 1.2174710035324097,
                    "z": 0.07187335938215256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.464398384094238,
                "transform": {
                    "location": {
                        "x": 3018.750244140625,
                        "y": 4273.41845703125,
                        "z": 361.4969787597656
                    },
                    "rotation": {
                        "roll": -0.00030517412233166397,
                        "pitch": 0.537590503692627,
                        "yaw": 9.186933517456055
                    }
                },
                "velocity": {
                    "x": 7.368321418762207,
                    "y": 1.1916134357452393,
                    "z": 0.07169967144727707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0028347969055176,
                "transform": {
                    "location": {
                        "x": 2988.29931640625,
                        "y": 4264.99755859375,
                        "z": 361.20855712890625
                    },
                    "rotation": {
                        "roll": -0.000946044223383069,
                        "pitch": -0.36962249875068665,
                        "yaw": -170.09710693359375
                    }
                },
                "velocity": {
                    "x": -2.9617624282836914,
                    "y": -0.4942008852958679,
                    "z": -0.027333874255418777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.803085803985596,
                "transform": {
                    "location": {
                        "x": 2972.524658203125,
                        "y": 4262.44482421875,
                        "z": 361.06640625
                    },
                    "rotation": {
                        "roll": -0.0010986357228830457,
                        "pitch": -0.2546704113483429,
                        "yaw": -170.82159423828125
                    }
                },
                "velocity": {
                    "x": -6.715494155883789,
                    "y": -1.0865875482559204,
                    "z": -0.058644380420446396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11128848791122437,
        "expert_target_speed": 8.497558971072023,
        "target_point": [
            27.420988675663374,
            2.3636918824449067
        ],
        "target_point_next": [
            78.15675621722465,
            7.549032498462498
        ]
    },
    "155": {
        "acceleration": [
            -0.21968841552734375,
            -0.7585775852203369,
            -0.012580007314682007
        ],
        "angular_velocity": [
            -0.15332503616809845,
            -1.4424464702606201,
            4.8326735496521
        ],
        "forward_vector": [
            -0.9969068169593811,
            -0.07855650782585144,
            -0.0023611763026565313
        ],
        "right_vector": [
            0.07854973524808884,
            -0.9969061017036438,
            0.0028367864433676004
        ],
        "location": [
            3016.0986328125,
            4266.0380859375,
            361.4602355957031
        ],
        "rotation": [
            -0.16253656148910522,
            -0.13528555631637573,
            -175.494384765625
        ],
        "velocity": [
            -8.490537643432617,
            -0.7449531555175781,
            -0.080808624625206
        ],
        "speed": 8.523155793393776,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 84.80033874511719,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.527115821838379,
                "transform": {
                    "location": {
                        "x": 3040.3486328125,
                        "y": 4273.51904296875,
                        "z": 362.0919494628906
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -8.39865493774414,
                    "y": -1.359019160270691,
                    "z": -0.5721529126167297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.072998046875,
                        "y": 4263.392578125,
                        "z": 361.0543518066406
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.592529296875,
                        "y": 4260.18408203125,
                        "z": 361.0543518066406
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.313209533691406,
                "transform": {
                    "location": {
                        "x": 3031.251708984375,
                        "y": 4268.6806640625,
                        "z": 361.6019592285156
                    },
                    "rotation": {
                        "roll": -0.0017089849570766091,
                        "pitch": -0.5439698696136475,
                        "yaw": -170.54017639160156
                    }
                },
                "velocity": {
                    "x": -7.213680744171143,
                    "y": -1.2004135847091675,
                    "z": -0.06966614723205566
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.119521141052246,
                "transform": {
                    "location": {
                        "x": 3025.10107421875,
                        "y": 4270.95947265625,
                        "z": 361.5590515136719
                    },
                    "rotation": {
                        "roll": 0.008389248512685299,
                        "pitch": -0.29367080330848694,
                        "yaw": -170.69004821777344
                    }
                },
                "velocity": {
                    "x": -11.959482192993164,
                    "y": -1.9595975875854492,
                    "z": -0.1164042055606842
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.124890327453613,
                "transform": {
                    "location": {
                        "x": 2978.40673828125,
                        "y": 4270.1796875,
                        "z": 361.1227111816406
                    },
                    "rotation": {
                        "roll": 0.00046717326040379703,
                        "pitch": 0.5171750783920288,
                        "yaw": 9.229299545288086
                    }
                },
                "velocity": {
                    "x": 8.019558906555176,
                    "y": 1.3020108938217163,
                    "z": 0.07272247225046158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.083805084228516,
                "transform": {
                    "location": {
                        "x": 2978.833251953125,
                        "y": 4266.955078125,
                        "z": 361.1277160644531
                    },
                    "rotation": {
                        "roll": 0.0015095343114808202,
                        "pitch": 0.5355414152145386,
                        "yaw": 9.249566078186035
                    }
                },
                "velocity": {
                    "x": 7.978399276733398,
                    "y": 1.2991515398025513,
                    "z": 0.07249283045530319
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.352177143096924,
                "transform": {
                    "location": {
                        "x": 3019.176513671875,
                        "y": 4276.77880859375,
                        "z": 361.51190185546875
                    },
                    "rotation": {
                        "roll": 0.001131956116296351,
                        "pitch": 0.49557802081108093,
                        "yaw": 9.201480865478516
                    }
                },
                "velocity": {
                    "x": 7.257218360900879,
                    "y": 1.1757069826126099,
                    "z": 0.07075193524360657
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.2928547859191895,
                "transform": {
                    "location": {
                        "x": 3020.568115234375,
                        "y": 4273.712890625,
                        "z": 361.5145568847656
                    },
                    "rotation": {
                        "roll": 0.00013666997256223112,
                        "pitch": 0.5437581539154053,
                        "yaw": 9.183191299438477
                    }
                },
                "velocity": {
                    "x": 7.199067115783691,
                    "y": 1.163718342781067,
                    "z": 0.07013839483261108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.588898181915283,
                "transform": {
                    "location": {
                        "x": 2987.345458984375,
                        "y": 4264.83935546875,
                        "z": 361.19970703125
                    },
                    "rotation": {
                        "roll": 0.004236047621816397,
                        "pitch": -0.30037805438041687,
                        "yaw": -170.38577270507812
                    }
                },
                "velocity": {
                    "x": -4.527605056762695,
                    "y": -0.7463228702545166,
                    "z": -0.04220239445567131
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.701931953430176,
                "transform": {
                    "location": {
                        "x": 2970.570556640625,
                        "y": 4262.12841796875,
                        "z": 361.04937744140625
                    },
                    "rotation": {
                        "roll": 0.00021835147344972938,
                        "pitch": -0.1285099983215332,
                        "yaw": -170.8218536376953
                    }
                },
                "velocity": {
                    "x": -8.589991569519043,
                    "y": -1.3892778158187866,
                    "z": -0.07462060451507568
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.022154778242111206,
        "expert_target_speed": 9.005665986880281,
        "target_point": [
            25.37698261785126,
            1.8177403060962372
        ],
        "target_point_next": [
            76.2065754447033,
            5.984076633362106
        ]
    },
    "160": {
        "acceleration": [
            -3.8168716430664062,
            -1.303260326385498,
            -0.037636905908584595
        ],
        "angular_velocity": [
            -0.2592923641204834,
            -0.1416042596101761,
            5.620502948760986
        ],
        "forward_vector": [
            -0.9948140978813171,
            -0.1017085611820221,
            0.00043344494770281017
        ],
        "right_vector": [
            0.10170948505401611,
            -0.9948043823242188,
            0.00440218998119235
        ],
        "location": [
            3013.725341796875,
            4265.80517578125,
            361.43707275390625
        ],
        "rotation": [
            -0.2522277534008026,
            0.024834565818309784,
            -174.1624298095703
        ],
        "velocity": [
            -10.117714881896973,
            -1.1178401708602905,
            -0.09629741311073303
        ],
        "speed": 10.179279005850486,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 82.42172241210938,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.576681137084961,
                "transform": {
                    "location": {
                        "x": 3038.26025390625,
                        "y": 4273.1806640625,
                        "z": 361.6653137207031
                    },
                    "rotation": {
                        "roll": -0.00393677270039916,
                        "pitch": -0.5569472312927246,
                        "yaw": -170.78729248046875
                    }
                },
                "velocity": {
                    "x": -8.313589096069336,
                    "y": -1.375298023223877,
                    "z": -1.5975784063339233
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2939.123779296875,
                        "y": 4263.724609375,
                        "z": 360.895263671875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2939.643310546875,
                        "y": 4260.51611328125,
                        "z": 360.895263671875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.449528694152832,
                "transform": {
                    "location": {
                        "x": 3029.309326171875,
                        "y": 4268.35888671875,
                        "z": 361.5827331542969
                    },
                    "rotation": {
                        "roll": 0.0012713591568171978,
                        "pitch": -0.49206045269966125,
                        "yaw": -170.60121154785156
                    }
                },
                "velocity": {
                    "x": -8.33732795715332,
                    "y": -1.369994878768921,
                    "z": -0.08132089674472809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.158489227294922,
                "transform": {
                    "location": {
                        "x": 3021.97705078125,
                        "y": 4270.44970703125,
                        "z": 361.5287170410156
                    },
                    "rotation": {
                        "roll": 0.008016503416001797,
                        "pitch": -0.32306110858917236,
                        "yaw": -170.74925231933594
                    }
                },
                "velocity": {
                    "x": -12.98680591583252,
                    "y": -2.114945888519287,
                    "z": -0.12530246376991272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02258586883545,
                "transform": {
                    "location": {
                        "x": 2980.3994140625,
                        "y": 4270.50341796875,
                        "z": 361.1408996582031
                    },
                    "rotation": {
                        "roll": 0.00038505790871568024,
                        "pitch": 0.5227006673812866,
                        "yaw": 9.22050666809082
                    }
                },
                "velocity": {
                    "x": 7.9187469482421875,
                    "y": 1.2845836877822876,
                    "z": 0.07187870144844055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0327787399292,
                "transform": {
                    "location": {
                        "x": 2980.8251953125,
                        "y": 4267.279296875,
                        "z": 361.1458435058594
                    },
                    "rotation": {
                        "roll": 0.0009515939163975418,
                        "pitch": 0.5243945717811584,
                        "yaw": 9.239624977111816
                    }
                },
                "velocity": {
                    "x": 7.9284844398498535,
                    "y": 1.2881495952606201,
                    "z": 0.07305853068828583
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.148962497711182,
                "transform": {
                    "location": {
                        "x": 3020.967529296875,
                        "y": 4277.06884765625,
                        "z": 361.52923583984375
                    },
                    "rotation": {
                        "roll": 0.0001907992409542203,
                        "pitch": 0.5084733963012695,
                        "yaw": 9.199921607971191
                    }
                },
                "velocity": {
                    "x": 7.056835651397705,
                    "y": 1.1419004201889038,
                    "z": 0.06924694031476974
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.0136942863464355,
                "transform": {
                    "location": {
                        "x": 3022.334228515625,
                        "y": 4273.99853515625,
                        "z": 361.5315856933594
                    },
                    "rotation": {
                        "roll": 0.0010734617244452238,
                        "pitch": 0.5430341362953186,
                        "yaw": 9.182329177856445
                    }
                },
                "velocity": {
                    "x": 6.923490047454834,
                    "y": 1.1192127466201782,
                    "z": 0.06748716533184052
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4220476150512695,
                "transform": {
                    "location": {
                        "x": 2986.06689453125,
                        "y": 4264.63037109375,
                        "z": 361.1879577636719
                    },
                    "rotation": {
                        "roll": 0.005667249206453562,
                        "pitch": -0.3779621720314026,
                        "yaw": -170.62623596191406
                    }
                },
                "velocity": {
                    "x": -5.351263523101807,
                    "y": -0.8718745112419128,
                    "z": -0.04915167763829231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.292901039123535,
                "transform": {
                    "location": {
                        "x": 2968.3203125,
                        "y": 4261.76416015625,
                        "z": 361.0299072265625
                    },
                    "rotation": {
                        "roll": -0.002319336635991931,
                        "pitch": -0.3020036220550537,
                        "yaw": -170.78768920898438
                    }
                },
                "velocity": {
                    "x": -9.17299747467041,
                    "y": -1.4858475923538208,
                    "z": -0.07992830872535706
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33119651675224304,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04140765592455864,
        "expert_target_speed": 10.0,
        "target_point": [
            23.027706039065023,
            1.237051491160273
        ],
        "target_point_next": [
            73.94041014001733,
            4.220744917827546
        ]
    },
    "165": {
        "acceleration": [
            -3.6038589477539062,
            -1.6298842430114746,
            -0.03690779209136963
        ],
        "angular_velocity": [
            -0.32097840309143066,
            -0.286597341299057,
            6.109190464019775
        ],
        "forward_vector": [
            -0.991874635219574,
            -0.12721432745456696,
            -0.001116394647397101
        ],
        "right_vector": [
            0.127205953001976,
            -0.9918597340583801,
            0.005740674212574959
        ],
        "location": [
            3011.081787109375,
            4265.484375,
            361.4122619628906
        ],
        "rotation": [
            -0.3289183974266052,
            -0.06396471709012985,
            -172.69134521484375
        ],
        "velocity": [
            -10.99163818359375,
            -1.48399817943573,
            -0.1038680225610733
        ],
        "speed": 11.091364233294508,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 79.7621078491211,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.219825744628906,
                "transform": {
                    "location": {
                        "x": 3036.2177734375,
                        "y": 4272.8369140625,
                        "z": 361.61865234375
                    },
                    "rotation": {
                        "roll": -0.010162345133721828,
                        "pitch": -0.5502946376800537,
                        "yaw": -170.35800170898438
                    }
                },
                "velocity": {
                    "x": -8.0979585647583,
                    "y": -1.3972419500350952,
                    "z": 0.19053739309310913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.177978515625,
                        "y": 4264.056640625,
                        "z": 360.8372497558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2941.697509765625,
                        "y": 4260.84814453125,
                        "z": 360.8372497558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4303428828716278,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.642699241638184,
                "transform": {
                    "location": {
                        "x": 3027.072998046875,
                        "y": 4267.9912109375,
                        "z": 361.5608825683594
                    },
                    "rotation": {
                        "roll": -0.001159667270258069,
                        "pitch": -0.47143328189849854,
                        "yaw": -170.6712188720703
                    }
                },
                "velocity": {
                    "x": -9.515032768249512,
                    "y": -1.5611978769302368,
                    "z": -0.0919719859957695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.8510103225708,
                "transform": {
                    "location": {
                        "x": 3018.613037109375,
                        "y": 4269.90234375,
                        "z": 361.49615478515625
                    },
                    "rotation": {
                        "roll": 0.0068270182237029076,
                        "pitch": -0.37661659717559814,
                        "yaw": -170.77676391601562
                    }
                },
                "velocity": {
                    "x": -13.671453475952148,
                    "y": -2.2191524505615234,
                    "z": -0.131168931722641
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075976371765137,
                "transform": {
                    "location": {
                        "x": 2982.38330078125,
                        "y": 4270.8251953125,
                        "z": 361.15924072265625
                    },
                    "rotation": {
                        "roll": -0.00021361903054639697,
                        "pitch": 0.5227689743041992,
                        "yaw": 9.211411476135254
                    }
                },
                "velocity": {
                    "x": 7.971522808074951,
                    "y": 1.2926331758499146,
                    "z": 0.07285560667514801
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.016502380371094,
                "transform": {
                    "location": {
                        "x": 2982.801513671875,
                        "y": 4267.60009765625,
                        "z": 361.16412353515625
                    },
                    "rotation": {
                        "roll": 0.0016099775675684214,
                        "pitch": 0.5241213440895081,
                        "yaw": 9.218941688537598
                    }
                },
                "velocity": {
                    "x": 7.912787914276123,
                    "y": 1.28330397605896,
                    "z": 0.07235870510339737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8695478439331055,
                "transform": {
                    "location": {
                        "x": 3022.6953125,
                        "y": 4277.3486328125,
                        "z": 361.54595947265625
                    },
                    "rotation": {
                        "roll": 0.000667025800794363,
                        "pitch": 0.49775683879852295,
                        "yaw": 9.198199272155762
                    }
                },
                "velocity": {
                    "x": 6.780888557434082,
                    "y": 1.0980395078659058,
                    "z": 0.0674404725432396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.782873630523682,
                "transform": {
                    "location": {
                        "x": 3024.03466796875,
                        "y": 4274.27294921875,
                        "z": 361.54815673828125
                    },
                    "rotation": {
                        "roll": 0.0007761017186567187,
                        "pitch": 0.5430478453636169,
                        "yaw": 9.184100151062012
                    }
                },
                "velocity": {
                    "x": 6.695619583129883,
                    "y": 1.0825567245483398,
                    "z": 0.0642181783914566
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.553790092468262,
                "transform": {
                    "location": {
                        "x": 2984.645751953125,
                        "y": 4264.400390625,
                        "z": 361.1747131347656
                    },
                    "rotation": {
                        "roll": 0.0030851990450173616,
                        "pitch": -0.3617541193962097,
                        "yaw": -170.7470245361328
                    }
                },
                "velocity": {
                    "x": -6.46912145614624,
                    "y": -1.0482826232910156,
                    "z": -0.06114080175757408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.982380867004395,
                "transform": {
                    "location": {
                        "x": 2965.79248046875,
                        "y": 4261.3544921875,
                        "z": 361.00823974609375
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.1920512467622757,
                        "yaw": -170.7810821533203
                    }
                },
                "velocity": {
                    "x": -10.840476989746094,
                    "y": -1.757392406463623,
                    "z": -0.0912814512848854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04352939501404762,
        "expert_target_speed": 10.0,
        "target_point": [
            20.388987534987752,
            0.6635696720830047
        ],
        "target_point_next": [
            71.36150999706082,
            2.339224525840267
        ]
    },
    "170": {
        "acceleration": [
            -3.136749267578125,
            -1.1589360237121582,
            -0.038039982318878174
        ],
        "angular_velocity": [
            0.23466473817825317,
            -0.135454922914505,
            3.991471290588379
        ],
        "forward_vector": [
            -0.9886499643325806,
            -0.1502247154712677,
            -0.0019265400478616357
        ],
        "right_vector": [
            0.15021108090877533,
            -0.9886361956596375,
            0.005924954079091549
        ],
        "location": [
            3008.225341796875,
            4265.07080078125,
            361.385498046875
        ],
        "rotation": [
            -0.3394774794578552,
            -0.11038268357515335,
            -171.3600311279297
        ],
        "velocity": [
            -11.820945739746094,
            -1.8293746709823608,
            -0.11088480055332184
        ],
        "speed": 11.961662504386801,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.87699890136719,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.2582368850708,
                "transform": {
                    "location": {
                        "x": 3039.786376953125,
                        "y": 4270.13623046875,
                        "z": 361.9784240722656
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -10.007537841796875,
                    "y": -1.6193583011627197,
                    "z": -1.5678908824920654
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.406028747558594,
                "transform": {
                    "location": {
                        "x": 3034.168701171875,
                        "y": 4272.484375,
                        "z": 361.6363830566406
                    },
                    "rotation": {
                        "roll": -0.007476804777979851,
                        "pitch": -0.5481226444244385,
                        "yaw": -170.05831909179688
                    }
                },
                "velocity": {
                    "x": -8.284046173095703,
                    "y": -1.4265621900558472,
                    "z": -0.02870093286037445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9457478523254395,
                "transform": {
                    "location": {
                        "x": 2942.904296875,
                        "y": 4264.33984375,
                        "z": 360.8306884765625
                    },
                    "rotation": {
                        "roll": -0.0041503868997097015,
                        "pitch": 0.39772871136665344,
                        "yaw": 9.362136840820312
                    }
                },
                "velocity": {
                    "x": 6.84806489944458,
                    "y": 1.1607862710952759,
                    "z": 0.0011970328632742167
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.938811302185059,
                "transform": {
                    "location": {
                        "x": 2943.41455078125,
                        "y": 4261.13232421875,
                        "z": 360.84002685546875
                    },
                    "rotation": {
                        "roll": -0.0383911095559597,
                        "pitch": 0.14009399712085724,
                        "yaw": 9.43248176574707
                    }
                },
                "velocity": {
                    "x": 6.8395819664001465,
                    "y": 1.169188380241394,
                    "z": 0.014843301847577095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.90664291381836,
                "transform": {
                    "location": {
                        "x": 3024.5302734375,
                        "y": 4267.57421875,
                        "z": 361.5361633300781
                    },
                    "rotation": {
                        "roll": 0.0005488044116646051,
                        "pitch": -0.46511536836624146,
                        "yaw": -170.7033233642578
                    }
                },
                "velocity": {
                    "x": -10.763772964477539,
                    "y": -1.756504774093628,
                    "z": -0.10360363870859146
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.826948165893555,
                "transform": {
                    "location": {
                        "x": 3015.07861328125,
                        "y": 4269.3291015625,
                        "z": 361.46221923828125
                    },
                    "rotation": {
                        "roll": 0.00469932658597827,
                        "pitch": -0.3550127148628235,
                        "yaw": -170.79356384277344
                    }
                },
                "velocity": {
                    "x": -14.635194778442383,
                    "y": -2.3727335929870605,
                    "z": -0.14003640413284302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055660247802734,
                "transform": {
                    "location": {
                        "x": 2984.3759765625,
                        "y": 4271.1484375,
                        "z": 361.17767333984375
                    },
                    "rotation": {
                        "roll": 0.00023138908727560192,
                        "pitch": 0.5262796878814697,
                        "yaw": 9.207015037536621
                    }
                },
                "velocity": {
                    "x": 7.951538562774658,
                    "y": 1.2889295816421509,
                    "z": 0.0732307955622673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057173728942871,
                "transform": {
                    "location": {
                        "x": 2984.786865234375,
                        "y": 4267.921875,
                        "z": 361.18255615234375
                    },
                    "rotation": {
                        "roll": 0.001775800483301282,
                        "pitch": 0.5374265909194946,
                        "yaw": 9.204192161560059
                    }
                },
                "velocity": {
                    "x": 7.953304767608643,
                    "y": 1.287516713142395,
                    "z": 0.07278896123170853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.642934322357178,
                "transform": {
                    "location": {
                        "x": 3024.3603515625,
                        "y": 4277.61865234375,
                        "z": 361.5621337890625
                    },
                    "rotation": {
                        "roll": -6.670366037297981e-09,
                        "pitch": 0.5055432319641113,
                        "yaw": 9.198461532592773
                    }
                },
                "velocity": {
                    "x": 6.557201385498047,
                    "y": 1.0618517398834229,
                    "z": 0.06445673108100891
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.524736404418945,
                "transform": {
                    "location": {
                        "x": 3025.674560546875,
                        "y": 4274.53857421875,
                        "z": 361.56402587890625
                    },
                    "rotation": {
                        "roll": 0.0008372861193493009,
                        "pitch": 0.5438196063041687,
                        "yaw": 9.189615249633789
                    }
                },
                "velocity": {
                    "x": 6.440643787384033,
                    "y": 1.0422793626785278,
                    "z": 0.06283525377511978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.073346138000488,
                "transform": {
                    "location": {
                        "x": 2982.79736328125,
                        "y": 4264.1015625,
                        "z": 361.1576232910156
                    },
                    "rotation": {
                        "roll": 0.002063622698187828,
                        "pitch": -0.301908016204834,
                        "yaw": -170.80372619628906
                    }
                },
                "velocity": {
                    "x": -7.969603061676025,
                    "y": -1.2879815101623535,
                    "z": -0.07386602461338043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.105003356933594,
                "transform": {
                    "location": {
                        "x": 2962.9345703125,
                        "y": 4260.89111328125,
                        "z": 360.984130859375
                    },
                    "rotation": {
                        "roll": 0.001244384446181357,
                        "pitch": -0.2233266830444336,
                        "yaw": -170.79916381835938
                    }
                },
                "velocity": {
                    "x": -11.94898796081543,
                    "y": -1.9346058368682861,
                    "z": -0.10033883899450302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.021524347364902496,
        "expert_target_speed": 10.0,
        "target_point": [
            17.51274185265278,
            0.20990765151038282
        ],
        "target_point_next": [
            68.51043651673238,
            0.7008295238816658
        ]
    },
    "175": {
        "acceleration": [
            -3.1623077392578125,
            -1.0764122009277344,
            -0.045201629400253296
        ],
        "angular_velocity": [
            0.20816642045974731,
            -0.062352392822504044,
            2.710805654525757
        ],
        "forward_vector": [
            -0.9864245653152466,
            -0.1641966849565506,
            -0.0024628611281514168
        ],
        "right_vector": [
            0.16418291628360748,
            -0.9864171743392944,
            0.005015227012336254
        ],
        "location": [
            3005.1640625,
            4264.578125,
            361.3567810058594
        ],
        "rotation": [
            -0.28735342621803284,
            -0.14111170172691345,
            -170.54940795898438
        ],
        "velocity": [
            -12.624369621276855,
            -2.121277332305908,
            -0.1190548688173294
        ],
        "speed": 12.80134859517437,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.7765121459961,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.994839668273926,
                "transform": {
                    "location": {
                        "x": 3037.32275390625,
                        "y": 4269.732421875,
                        "z": 361.5933532714844
                    },
                    "rotation": {
                        "roll": -0.011138911359012127,
                        "pitch": -0.5559363961219788,
                        "yaw": -170.6088409423828
                    }
                },
                "velocity": {
                    "x": -9.852028846740723,
                    "y": -1.676068663597107,
                    "z": -0.15859448909759521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.226914882659912,
                "transform": {
                    "location": {
                        "x": 3032.294189453125,
                        "y": 4272.1630859375,
                        "z": 361.6219482421875
                    },
                    "rotation": {
                        "roll": -0.005096437409520149,
                        "pitch": -0.5779432654380798,
                        "yaw": -170.15650939941406
                    }
                },
                "velocity": {
                    "x": -7.124083518981934,
                    "y": -1.2127325534820557,
                    "z": -0.0707673728466034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.694130897521973,
                "transform": {
                    "location": {
                        "x": 2944.583740234375,
                        "y": 4264.62548828125,
                        "z": 360.83831787109375
                    },
                    "rotation": {
                        "roll": -0.0007019046461209655,
                        "pitch": 0.4258486032485962,
                        "yaw": 9.73631763458252
                    }
                },
                "velocity": {
                    "x": 6.594829559326172,
                    "y": 1.1477584838867188,
                    "z": 0.04754871129989624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.6752753257751465,
                "transform": {
                    "location": {
                        "x": 2945.093017578125,
                        "y": 4261.419921875,
                        "z": 360.8475646972656
                    },
                    "rotation": {
                        "roll": -0.01654052548110485,
                        "pitch": 0.4173177182674408,
                        "yaw": 9.755353927612305
                    }
                },
                "velocity": {
                    "x": 6.57572603225708,
                    "y": 1.1471949815750122,
                    "z": 0.055455341935157776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.657058715820312,
                "transform": {
                    "location": {
                        "x": 3021.710205078125,
                        "y": 4267.1142578125,
                        "z": 361.5090637207031
                    },
                    "rotation": {
                        "roll": 0.0007438905304297805,
                        "pitch": -0.48776426911354065,
                        "yaw": -170.74896240234375
                    }
                },
                "velocity": {
                    "x": -11.505094528198242,
                    "y": -1.8728231191635132,
                    "z": -0.11114298552274704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.764998435974121,
                "transform": {
                    "location": {
                        "x": 3011.373291015625,
                        "y": 4268.72900390625,
                        "z": 361.4266662597656
                    },
                    "rotation": {
                        "roll": 0.003121289424598217,
                        "pitch": -0.5088217258453369,
                        "yaw": -170.8069610595703
                    }
                },
                "velocity": {
                    "x": -14.574788093566895,
                    "y": -2.3582956790924072,
                    "z": -0.13848236203193665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067633628845215,
                "transform": {
                    "location": {
                        "x": 2986.3642578125,
                        "y": 4271.470703125,
                        "z": 361.1961669921875
                    },
                    "rotation": {
                        "roll": 0.0028175334446132183,
                        "pitch": 0.5298928618431091,
                        "yaw": 9.206634521484375
                    }
                },
                "velocity": {
                    "x": 7.9633636474609375,
                    "y": 1.2907999753952026,
                    "z": 0.07335498929023743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023276329040527,
                "transform": {
                    "location": {
                        "x": 2986.770751953125,
                        "y": 4268.2431640625,
                        "z": 361.2010192871094
                    },
                    "rotation": {
                        "roll": 0.0010153838666155934,
                        "pitch": 0.5306715369224548,
                        "yaw": 9.197100639343262
                    }
                },
                "velocity": {
                    "x": 7.91981315612793,
                    "y": 1.282282829284668,
                    "z": 0.07267200201749802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.430881500244141,
                "transform": {
                    "location": {
                        "x": 3025.973388671875,
                        "y": 4277.8798828125,
                        "z": 361.5778503417969
                    },
                    "rotation": {
                        "roll": 6.396882963599637e-05,
                        "pitch": 0.5079816579818726,
                        "yaw": 9.198521614074707
                    }
                },
                "velocity": {
                    "x": 6.34789514541626,
                    "y": 1.0279775857925415,
                    "z": 0.06107460707426071
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.345644474029541,
                "transform": {
                    "location": {
                        "x": 3027.262451171875,
                        "y": 4274.79541015625,
                        "z": 361.5794372558594
                    },
                    "rotation": {
                        "roll": 0.0010271159699186683,
                        "pitch": 0.5446187853813171,
                        "yaw": 9.191411972045898
                    }
                },
                "velocity": {
                    "x": 6.26387357711792,
                    "y": 1.0135797262191772,
                    "z": 0.06122097745537758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.28939437866211,
                "transform": {
                    "location": {
                        "x": 2980.65185546875,
                        "y": 4263.75537109375,
                        "z": 361.1378173828125
                    },
                    "rotation": {
                        "roll": 0.0006371935596689582,
                        "pitch": -0.32150381803512573,
                        "yaw": -170.82809448242188
                    }
                },
                "velocity": {
                    "x": -9.170269966125488,
                    "y": -1.4805244207382202,
                    "z": -0.08390344679355621
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.132468223571777,
                "transform": {
                    "location": {
                        "x": 2959.814697265625,
                        "y": 4260.38671875,
                        "z": 360.95819091796875
                    },
                    "rotation": {
                        "roll": 0.0015614160802215338,
                        "pitch": -0.24465052783489227,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -12.963677406311035,
                    "y": -2.0961215496063232,
                    "z": -0.1052299439907074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 5.0658076361287385e-05,
        "expert_target_speed": 10.0,
        "target_point": [
            14.41333266080248,
            -0.021207849446194693
        ],
        "target_point_next": [
            65.41286879683,
            -0.25181410584092134
        ]
    },
    "180": {
        "acceleration": [
            -2.232341766357422,
            -0.6582260131835938,
            -0.007300823926925659
        ],
        "angular_velocity": [
            0.3468850255012512,
            -0.22580718994140625,
            1.3040674924850464
        ],
        "forward_vector": [
            -0.9849921464920044,
            -0.1725681573152542,
            -0.0032617985270917416
        ],
        "right_vector": [
            0.17255617678165436,
            -0.9849928617477417,
            0.0036527637857943773
        ],
        "location": [
            3001.91650390625,
            4264.02099609375,
            361.3263244628906
        ],
        "rotation": [
            -0.2092895209789276,
            -0.18688762187957764,
            -170.06277465820312
        ],
        "velocity": [
            -13.28471851348877,
            -2.331214427947998,
            -0.12392198294401169
        ],
        "speed": 13.487709467945407,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 70.48140716552734,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.83403205871582,
                "transform": {
                    "location": {
                        "x": 3034.883056640625,
                        "y": 4269.31640625,
                        "z": 361.6228942871094
                    },
                    "rotation": {
                        "roll": -0.01153564266860485,
                        "pitch": -0.5499599575996399,
                        "yaw": -170.0911102294922
                    }
                },
                "velocity": {
                    "x": -9.689970016479492,
                    "y": -1.6750901937484741,
                    "z": 0.08217727392911911
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.706632614135742,
                "transform": {
                    "location": {
                        "x": 3030.47216796875,
                        "y": 4271.8525390625,
                        "z": 361.6033935546875
                    },
                    "rotation": {
                        "roll": -0.0028686479199677706,
                        "pitch": -0.5424262881278992,
                        "yaw": -170.3423614501953
                    }
                },
                "velocity": {
                    "x": -7.598587512969971,
                    "y": -1.2838014364242554,
                    "z": -0.07422591745853424
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.881004810333252,
                "transform": {
                    "location": {
                        "x": 2946.2568359375,
                        "y": 4264.9140625,
                        "z": 360.85113525390625
                    },
                    "rotation": {
                        "roll": 0.006255115382373333,
                        "pitch": 0.43056827783584595,
                        "yaw": 9.908024787902832
                    }
                },
                "velocity": {
                    "x": 6.781492710113525,
                    "y": 1.1647837162017822,
                    "z": 0.0534796305000782
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.009765148162842,
                "transform": {
                    "location": {
                        "x": 2946.714111328125,
                        "y": 4261.69970703125,
                        "z": 360.8625793457031
                    },
                    "rotation": {
                        "roll": 0.02070971205830574,
                        "pitch": 0.34407758712768555,
                        "yaw": 9.825677871704102
                    }
                },
                "velocity": {
                    "x": 5.9237518310546875,
                    "y": 1.0118272304534912,
                    "z": 0.05140429362654686
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.959036827087402,
                "transform": {
                    "location": {
                        "x": 3018.655517578125,
                        "y": 4266.6171875,
                        "z": 361.4794006347656
                    },
                    "rotation": {
                        "roll": 0.0008900751126930118,
                        "pitch": -0.4661194086074829,
                        "yaw": -170.77528381347656
                    }
                },
                "velocity": {
                    "x": -12.791119575500488,
                    "y": -2.0757856369018555,
                    "z": -0.12248273938894272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.490530014038086,
                "transform": {
                    "location": {
                        "x": 3007.89990234375,
                        "y": 4268.1669921875,
                        "z": 361.39361572265625
                    },
                    "rotation": {
                        "roll": 0.0024174971040338278,
                        "pitch": -0.7317249774932861,
                        "yaw": -170.8155975341797
                    }
                },
                "velocity": {
                    "x": -13.317217826843262,
                    "y": -2.1518442630767822,
                    "z": -0.12521111965179443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048514366149902,
                "transform": {
                    "location": {
                        "x": 2988.352783203125,
                        "y": 4271.79296875,
                        "z": 361.2147216796875
                    },
                    "rotation": {
                        "roll": 0.0027934664394706488,
                        "pitch": 0.5292850136756897,
                        "yaw": 9.201696395874023
                    }
                },
                "velocity": {
                    "x": 7.944791793823242,
                    "y": 1.285841941833496,
                    "z": 0.07399652153253555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03895378112793,
                "transform": {
                    "location": {
                        "x": 2988.751708984375,
                        "y": 4268.5634765625,
                        "z": 361.2195739746094
                    },
                    "rotation": {
                        "roll": 0.0006085569621063769,
                        "pitch": 0.5344622731208801,
                        "yaw": 9.196428298950195
                    }
                },
                "velocity": {
                    "x": 7.935299396514893,
                    "y": 1.284747838973999,
                    "z": 0.07228025048971176
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.187414169311523,
                "transform": {
                    "location": {
                        "x": 3027.5283203125,
                        "y": 4278.1318359375,
                        "z": 361.59283447265625
                    },
                    "rotation": {
                        "roll": -3.0520259315380827e-05,
                        "pitch": 0.5057686567306519,
                        "yaw": 9.198453903198242
                    }
                },
                "velocity": {
                    "x": 6.107565402984619,
                    "y": 0.9890344738960266,
                    "z": 0.05957907438278198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.072748184204102,
                "transform": {
                    "location": {
                        "x": 3028.792724609375,
                        "y": 4275.04248046875,
                        "z": 361.59423828125
                    },
                    "rotation": {
                        "roll": 0.0001771560200722888,
                        "pitch": 0.5443933606147766,
                        "yaw": 9.191141128540039
                    }
                },
                "velocity": {
                    "x": 5.994494438171387,
                    "y": 0.9699629545211792,
                    "z": 0.05900268256664276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.563793182373047,
                "transform": {
                    "location": {
                        "x": 2978.19580078125,
                        "y": 4263.35888671875,
                        "z": 361.11541748046875
                    },
                    "rotation": {
                        "roll": 0.00015998646267689764,
                        "pitch": -0.306607186794281,
                        "yaw": -170.82156372070312
                    }
                },
                "velocity": {
                    "x": -10.428196907043457,
                    "y": -1.684505581855774,
                    "z": -0.09419693797826767
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.605791091918945,
                "transform": {
                    "location": {
                        "x": 2956.489990234375,
                        "y": 4259.84912109375,
                        "z": 360.93109130859375
                    },
                    "rotation": {
                        "roll": -0.0005493137869052589,
                        "pitch": -0.3254653215408325,
                        "yaw": -170.81651306152344
                    }
                },
                "velocity": {
                    "x": -13.430794715881348,
                    "y": -2.1724913120269775,
                    "z": -0.10767076909542084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02637377381324768,
        "expert_target_speed": 10.0,
        "target_point": [
            11.117652609731971,
            -0.13196699918427357
        ],
        "target_point_next": [
            62.113390635335385,
            -0.7957203867392248
        ]
    },
    "185": {
        "acceleration": [
            -1.5998077392578125,
            0.08128166198730469,
            -0.008068978786468506
        ],
        "angular_velocity": [
            0.6873193979263306,
            -0.22374151647090912,
            -1.7588244676589966
        ],
        "forward_vector": [
            -0.9852971434593201,
            -0.17078951001167297,
            -0.004527911078184843
        ],
        "right_vector": [
            0.17078740894794464,
            -0.985307514667511,
            0.0008511373889632523
        ],
        "location": [
            2998.528564453125,
            4263.43115234375,
            361.29486083984375
        ],
        "rotation": [
            -0.0487670861184597,
            -0.25943106412887573,
            -170.16616821289062
        ],
        "velocity": [
            -13.773548126220703,
            -2.369413137435913,
            -0.12776541709899902
        ],
        "speed": 13.975863000229063,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.04237365722656,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.976377487182617,
                "transform": {
                    "location": {
                        "x": 3032.48388671875,
                        "y": 4268.904296875,
                        "z": 361.61810302734375
                    },
                    "rotation": {
                        "roll": -0.006134027149528265,
                        "pitch": -0.5707100629806519,
                        "yaw": -170.05648803710938
                    }
                },
                "velocity": {
                    "x": -8.847638130187988,
                    "y": -1.5131500959396362,
                    "z": -0.0709259957075119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.200061798095703,
                "transform": {
                    "location": {
                        "x": 3028.48046875,
                        "y": 4271.51708984375,
                        "z": 361.5838928222656
                    },
                    "rotation": {
                        "roll": -0.0004882760695181787,
                        "pitch": -0.5305758714675903,
                        "yaw": -170.5084228515625
                    }
                },
                "velocity": {
                    "x": -8.088469505310059,
                    "y": -1.3458521366119385,
                    "z": -0.07979107648134232
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.13114070892334,
                "transform": {
                    "location": {
                        "x": 2947.85595703125,
                        "y": 4265.1884765625,
                        "z": 360.8636169433594
                    },
                    "rotation": {
                        "roll": 0.0057504563592374325,
                        "pitch": 0.4202820062637329,
                        "yaw": 9.792750358581543
                    }
                },
                "velocity": {
                    "x": 6.044002532958984,
                    "y": 1.0288891792297363,
                    "z": 0.04803599417209625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.156068801879883,
                "transform": {
                    "location": {
                        "x": 2948.064697265625,
                        "y": 4261.93017578125,
                        "z": 360.8747253417969
                    },
                    "rotation": {
                        "roll": 0.013642782345414162,
                        "pitch": 0.19302795827388763,
                        "yaw": 9.707362174987793
                    }
                },
                "velocity": {
                    "x": 5.083474159240723,
                    "y": 0.8612756133079529,
                    "z": 0.03924752026796341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.30803108215332,
                "transform": {
                    "location": {
                        "x": 3015.405029296875,
                        "y": 4266.08984375,
                        "z": 361.4484558105469
                    },
                    "rotation": {
                        "roll": -0.0005798382917419076,
                        "pitch": -0.506007730960846,
                        "yaw": -170.78836059570312
                    }
                },
                "velocity": {
                    "x": -13.135773658752441,
                    "y": -2.130552291870117,
                    "z": -0.1260632872581482
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.941669464111328,
                "transform": {
                    "location": {
                        "x": 3004.66552734375,
                        "y": 4267.64404296875,
                        "z": 361.3631896972656
                    },
                    "rotation": {
                        "roll": 0.0014801750658079982,
                        "pitch": -0.6721178889274597,
                        "yaw": -170.81976318359375
                    }
                },
                "velocity": {
                    "x": -12.775352478027344,
                    "y": -2.0647051334381104,
                    "z": -0.11903538554906845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076809883117676,
                "transform": {
                    "location": {
                        "x": 2990.343017578125,
                        "y": 4272.11474609375,
                        "z": 361.2332763671875
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": 0.5281648635864258,
                        "yaw": 9.189080238342285
                    }
                },
                "velocity": {
                    "x": 7.972977161407471,
                    "y": 1.2887400388717651,
                    "z": 0.07506726682186127
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038169860839844,
                "transform": {
                    "location": {
                        "x": 2990.736572265625,
                        "y": 4268.884765625,
                        "z": 361.238037109375
                    },
                    "rotation": {
                        "roll": 0.0007587676518596709,
                        "pitch": 0.5347286462783813,
                        "yaw": 9.194646835327148
                    }
                },
                "velocity": {
                    "x": 7.934716701507568,
                    "y": 1.283345341682434,
                    "z": 0.07395801693201065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.999821662902832,
                "transform": {
                    "location": {
                        "x": 3029.03076171875,
                        "y": 4278.375,
                        "z": 361.60748291015625
                    },
                    "rotation": {
                        "roll": -9.155752195511013e-05,
                        "pitch": 0.5109322667121887,
                        "yaw": 9.196099281311035
                    }
                },
                "velocity": {
                    "x": 5.922430992126465,
                    "y": 0.9587972164154053,
                    "z": 0.05813104659318924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.916881561279297,
                "transform": {
                    "location": {
                        "x": 3030.270751953125,
                        "y": 4275.28173828125,
                        "z": 361.6086730957031
                    },
                    "rotation": {
                        "roll": -0.0002746573300100863,
                        "pitch": 0.5439289212226868,
                        "yaw": 9.191575050354004
                    }
                },
                "velocity": {
                    "x": 5.840633392333984,
                    "y": 0.9451054930686951,
                    "z": 0.05713338777422905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.414289474487305,
                "transform": {
                    "location": {
                        "x": 2975.4912109375,
                        "y": 4262.92138671875,
                        "z": 361.0910949707031
                    },
                    "rotation": {
                        "roll": 0.0002099158155033365,
                        "pitch": -0.3637963533401489,
                        "yaw": -170.8162384033203
                    }
                },
                "velocity": {
                    "x": -11.26761531829834,
                    "y": -1.8211872577667236,
                    "z": -0.10062875598669052
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.410442352294922,
                "transform": {
                    "location": {
                        "x": 2953.1572265625,
                        "y": 4259.310546875,
                        "z": 360.9044494628906
                    },
                    "rotation": {
                        "roll": -3.335155263073375e-09,
                        "pitch": -0.44806039333343506,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": -13.238051414489746,
                    "y": -2.1407692432403564,
                    "z": -0.10525723546743393
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03485027700662613,
        "expert_target_speed": 10.0,
        "target_point": [
            7.678971217425261,
            -0.11445313945003521
        ],
        "target_point_next": [
            58.675823873984385,
            -0.6861912444099261
        ]
    },
    "190": {
        "acceleration": [
            -0.9257698059082031,
            0.24319171905517578,
            0.009491443634033203
        ],
        "angular_velocity": [
            0.34294384717941284,
            -0.273499995470047,
            -1.9262250661849976
        ],
        "forward_vector": [
            -0.9867660403251648,
            -0.1620330810546875,
            -0.006162961479276419
        ],
        "right_vector": [
            0.16204439103603363,
            -0.9867824912071228,
            -0.0013780614826828241
        ],
        "location": [
            2995.048095703125,
            4262.845703125,
            361.26275634765625
        ],
        "rotation": [
            0.07895863801240921,
            -0.35311391949653625,
            -170.67489624023438
        ],
        "velocity": [
            -14.048662185668945,
            -2.305222511291504,
            -0.13054010272026062
        ],
        "speed": 14.236536096733982,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 63.512977600097656,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.552573204040527,
                "transform": {
                    "location": {
                        "x": 3030.374267578125,
                        "y": 4268.54345703125,
                        "z": 361.5979919433594
                    },
                    "rotation": {
                        "roll": -0.004943842068314552,
                        "pitch": -0.5712223649024963,
                        "yaw": -170.2017822265625
                    }
                },
                "velocity": {
                    "x": -8.431344032287598,
                    "y": -1.4324463605880737,
                    "z": -0.08390375226736069
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.933658599853516,
                "transform": {
                    "location": {
                        "x": 3026.184814453125,
                        "y": 4271.13623046875,
                        "z": 361.561279296875
                    },
                    "rotation": {
                        "roll": 0.0017729558749124408,
                        "pitch": -0.5029887557029724,
                        "yaw": -170.67715454101562
                    }
                },
                "velocity": {
                    "x": -9.80152702331543,
                    "y": -1.612024188041687,
                    "z": -0.09492937475442886
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.440225124359131,
                "transform": {
                    "location": {
                        "x": 2949.3837890625,
                        "y": 4265.44873046875,
                        "z": 360.87542724609375
                    },
                    "rotation": {
                        "roll": 0.004960918333381414,
                        "pitch": 0.44526684284210205,
                        "yaw": 9.662075996398926
                    }
                },
                "velocity": {
                    "x": 6.349783897399902,
                    "y": 1.0743972063064575,
                    "z": 0.049160439521074295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.621150970458984,
                "transform": {
                    "location": {
                        "x": 2949.349365234375,
                        "y": 4262.1484375,
                        "z": 360.8822326660156
                    },
                    "rotation": {
                        "roll": 0.006543537601828575,
                        "pitch": 0.46637213230133057,
                        "yaw": 9.626226425170898
                    }
                },
                "velocity": {
                    "x": 5.542701244354248,
                    "y": 0.9349181056022644,
                    "z": 0.04157595708966255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.598891258239746,
                "transform": {
                    "location": {
                        "x": 3012.084228515625,
                        "y": 4265.5517578125,
                        "z": 361.4166259765625
                    },
                    "rotation": {
                        "roll": 0.0006286867428570986,
                        "pitch": -0.5201120376586914,
                        "yaw": -170.80252075195312
                    }
                },
                "velocity": {
                    "x": -13.42333698272705,
                    "y": -2.1742706298828125,
                    "z": -0.1281546801328659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.054287910461426,
                "transform": {
                    "location": {
                        "x": 3001.58154296875,
                        "y": 4267.1455078125,
                        "z": 361.33416748046875
                    },
                    "rotation": {
                        "roll": 0.0002602606255095452,
                        "pitch": -0.7058385610580444,
                        "yaw": -170.812744140625
                    }
                },
                "velocity": {
                    "x": -11.899175643920898,
                    "y": -1.9243199825286865,
                    "z": -0.11173991858959198
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043169021606445,
                "transform": {
                    "location": {
                        "x": 2992.33154296875,
                        "y": 4272.43603515625,
                        "z": 361.25189208984375
                    },
                    "rotation": {
                        "roll": -0.002166749443858862,
                        "pitch": 0.5282604694366455,
                        "yaw": 9.184511184692383
                    }
                },
                "velocity": {
                    "x": 7.939707279205322,
                    "y": 1.2837183475494385,
                    "z": 0.07542814314365387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032752990722656,
                "transform": {
                    "location": {
                        "x": 2992.71923828125,
                        "y": 4269.205078125,
                        "z": 361.256591796875
                    },
                    "rotation": {
                        "roll": -0.00045776250772178173,
                        "pitch": 0.5329732894897461,
                        "yaw": 9.192765235900879
                    }
                },
                "velocity": {
                    "x": 7.929258346557617,
                    "y": 1.2832123041152954,
                    "z": 0.07307472079992294
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.776987552642822,
                "transform": {
                    "location": {
                        "x": 3030.4833984375,
                        "y": 4278.6103515625,
                        "z": 361.62152099609375
                    },
                    "rotation": {
                        "roll": 0.0002801955852191895,
                        "pitch": 0.5099077224731445,
                        "yaw": 9.192487716674805
                    }
                },
                "velocity": {
                    "x": 5.7025322914123535,
                    "y": 0.9227927923202515,
                    "z": 0.05624279007315636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.665480136871338,
                "transform": {
                    "location": {
                        "x": 3031.698974609375,
                        "y": 4275.51318359375,
                        "z": 361.6224670410156
                    },
                    "rotation": {
                        "roll": 0.0010352171957492828,
                        "pitch": 0.5440586805343628,
                        "yaw": 9.191534042358398
                    }
                },
                "velocity": {
                    "x": 5.592463970184326,
                    "y": 0.9049500226974487,
                    "z": 0.05548064038157463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.65861988067627,
                "transform": {
                    "location": {
                        "x": 2972.50048828125,
                        "y": 4262.43798828125,
                        "z": 361.06463623046875
                    },
                    "rotation": {
                        "roll": 0.0011627899948507547,
                        "pitch": -0.3100290894508362,
                        "yaw": -170.81521606445312
                    }
                },
                "velocity": {
                    "x": -12.4959077835083,
                    "y": -2.0201308727264404,
                    "z": -0.10963502526283264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.371000289916992,
                "transform": {
                    "location": {
                        "x": 2949.856689453125,
                        "y": 4258.77685546875,
                        "z": 360.8785095214844
                    },
                    "rotation": {
                        "roll": -0.0005493168719112873,
                        "pitch": -0.4499182105064392,
                        "yaw": -170.8055419921875
                    }
                },
                "velocity": {
                    "x": -13.198774337768555,
                    "y": -2.1366348266601562,
                    "z": -0.10383483022451401
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.018373427912592888,
        "expert_target_speed": 10.0,
        "target_point": [
            55.15026587029655,
            -0.17895496351484574
        ],
        "target_point_next": [
            106.15018469097143,
            -0.29789032426169726
        ]
    },
    "195": {
        "acceleration": [
            -0.6940269470214844,
            0.021114349365234375,
            -0.0037217140197753906
        ],
        "angular_velocity": [
            -0.06599627435207367,
            -0.19250410795211792,
            -0.2627309262752533
        ],
        "forward_vector": [
            -0.9873322248458862,
            -0.15850293636322021,
            -0.0072069731540977955
        ],
        "right_vector": [
            0.15851622819900513,
            -0.9873555302619934,
            -0.0013090383727103472
        ],
        "location": [
            2991.510009765625,
            4262.27099609375,
            361.2298889160156
        ],
        "rotation": [
            0.07500433921813965,
            -0.41293272376060486,
            -170.87974548339844
        ],
        "velocity": [
            -14.243292808532715,
            -2.2929575443267822,
            -0.13129936158657074
        ],
        "speed": 14.426678215364923,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.928741455078125,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.260013580322266,
                "transform": {
                    "location": {
                        "x": 3028.184814453125,
                        "y": 4268.17431640625,
                        "z": 361.575927734375
                    },
                    "rotation": {
                        "roll": -0.0014648418873548508,
                        "pitch": -0.5320717096328735,
                        "yaw": -170.40794372558594
                    }
                },
                "velocity": {
                    "x": -9.133882522583008,
                    "y": -1.5205979347229004,
                    "z": -0.08844610303640366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.653977394104004,
                "transform": {
                    "location": {
                        "x": 3023.639404296875,
                        "y": 4270.71875,
                        "z": 361.5367126464844
                    },
                    "rotation": {
                        "roll": 0.0018583418568596244,
                        "pitch": -0.5215463638305664,
                        "yaw": -170.73187255859375
                    }
                },
                "velocity": {
                    "x": -10.514122009277344,
                    "y": -1.7176423072814941,
                    "z": -0.10083257406949997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.386989116668701,
                "transform": {
                    "location": {
                        "x": 2951.0859375,
                        "y": 4265.73681640625,
                        "z": 360.8885192871094
                    },
                    "rotation": {
                        "roll": 0.005379370879381895,
                        "pitch": 0.47313401103019714,
                        "yaw": 9.551847457885742
                    }
                },
                "velocity": {
                    "x": 7.285984992980957,
                    "y": 1.216047763824463,
                    "z": 0.057100676000118256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.3757123947143555,
                "transform": {
                    "location": {
                        "x": 2951.0,
                        "y": 4262.4267578125,
                        "z": 360.8914489746094
                    },
                    "rotation": {
                        "roll": 0.010197130963206291,
                        "pitch": 0.9125815033912659,
                        "yaw": 9.553204536437988
                    }
                },
                "velocity": {
                    "x": 7.274619102478027,
                    "y": 1.2156703472137451,
                    "z": 0.056533392518758774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.833466529846191,
                "transform": {
                    "location": {
                        "x": 3008.6962890625,
                        "y": 4265.00341796875,
                        "z": 361.3844909667969
                    },
                    "rotation": {
                        "roll": -0.0004882815410383046,
                        "pitch": -0.515009880065918,
                        "yaw": -170.80934143066406
                    }
                },
                "velocity": {
                    "x": -13.655656814575195,
                    "y": -2.2071638107299805,
                    "z": -0.12757381796836853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.211037635803223,
                "transform": {
                    "location": {
                        "x": 2998.615966796875,
                        "y": 4266.666015625,
                        "z": 361.3064270019531
                    },
                    "rotation": {
                        "roll": 0.0005636666319333017,
                        "pitch": -0.5496184825897217,
                        "yaw": -170.80751037597656
                    }
                },
                "velocity": {
                    "x": -12.053730964660645,
                    "y": -1.9505263566970825,
                    "z": -0.11164409667253494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079706192016602,
                "transform": {
                    "location": {
                        "x": 2994.321533203125,
                        "y": 4272.75732421875,
                        "z": 361.2705078125
                    },
                    "rotation": {
                        "roll": 0.0010702342260628939,
                        "pitch": 0.5288000702857971,
                        "yaw": 9.184063911437988
                    }
                },
                "velocity": {
                    "x": 7.975773334503174,
                    "y": 1.289605975151062,
                    "z": 0.07489795237779617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036030769348145,
                "transform": {
                    "location": {
                        "x": 2994.7021484375,
                        "y": 4269.525390625,
                        "z": 361.2750549316406
                    },
                    "rotation": {
                        "roll": -0.0001525886618765071,
                        "pitch": 0.5348652601242065,
                        "yaw": 9.195966720581055
                    }
                },
                "velocity": {
                    "x": 7.932423114776611,
                    "y": 1.2842251062393188,
                    "z": 0.07225225120782852
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.592411994934082,
                "transform": {
                    "location": {
                        "x": 3031.88427734375,
                        "y": 4278.83642578125,
                        "z": 361.6351623535156
                    },
                    "rotation": {
                        "roll": 0.00046290046884678304,
                        "pitch": 0.5118407011032104,
                        "yaw": 9.18246841430664
                    }
                },
                "velocity": {
                    "x": 5.520518779754639,
                    "y": 0.8922478556632996,
                    "z": 0.053268756717443466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.513873100280762,
                "transform": {
                    "location": {
                        "x": 3033.0771484375,
                        "y": 4275.736328125,
                        "z": 361.63580322265625
                    },
                    "rotation": {
                        "roll": 0.00028141445363871753,
                        "pitch": 0.544140636920929,
                        "yaw": 9.191688537597656
                    }
                },
                "velocity": {
                    "x": 5.442828178405762,
                    "y": 0.8807182312011719,
                    "z": 0.05248410254716873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.107141494750977,
                "transform": {
                    "location": {
                        "x": 2969.297119140625,
                        "y": 4261.919921875,
                        "z": 361.03656005859375
                    },
                    "rotation": {
                        "roll": 0.0015442825388163328,
                        "pitch": -0.39233288168907166,
                        "yaw": -170.81857299804688
                    }
                },
                "velocity": {
                    "x": -12.938726425170898,
                    "y": -2.091407060623169,
                    "z": -0.11190012842416763
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.407451629638672,
                "transform": {
                    "location": {
                        "x": 2946.5517578125,
                        "y": 4258.24169921875,
                        "z": 360.85308837890625
                    },
                    "rotation": {
                        "roll": 0.00023040185624267906,
                        "pitch": -0.42599204182624817,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -13.234702110290527,
                    "y": -2.1428844928741455,
                    "z": -0.10240940749645233
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.015255119651556015,
        "expert_target_speed": 10.0,
        "target_point": [
            51.56610116750675,
            0.011621770657079367
        ],
        "target_point_next": [
            102.56611922527355,
            0.07505238568920447
        ]
    },
    "200": {
        "acceleration": [
            -0.7940292358398438,
            -0.07717132568359375,
            -0.01628398895263672
        ],
        "angular_velocity": [
            -0.09180714190006256,
            -0.028359897434711456,
            -0.1555507481098175
        ],
        "forward_vector": [
            -0.9874546527862549,
            -0.15771923959255219,
            -0.007612154353410006
        ],
        "right_vector": [
            0.1577301174402237,
            -0.9874818921089172,
            -0.0008463746635243297
        ],
        "location": [
            2987.92578125,
            4261.6962890625,
            361.1966247558594
        ],
        "rotation": [
            0.048495106399059296,
            -0.4361485242843628,
            -170.92520141601562
        ],
        "velocity": [
            -14.430058479309082,
            -2.3043630123138428,
            -0.135355606675148
        ],
        "speed": 14.61289419002273,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.29912567138672,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2911.9150390625,
                        "y": 4256.02880859375,
                        "z": 360.60272216796875
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2912.257080078125,
                        "y": 4259.376953125,
                        "z": 360.76080322265625
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.380270004272461,
                "transform": {
                    "location": {
                        "x": 3025.809814453125,
                        "y": 4267.77880859375,
                        "z": 361.552734375
                    },
                    "rotation": {
                        "roll": -0.0007629374740645289,
                        "pitch": -0.514463484287262,
                        "yaw": -170.6770782470703
                    }
                },
                "velocity": {
                    "x": -10.242109298706055,
                    "y": -1.6849896907806396,
                    "z": -0.1000671237707138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.32419490814209,
                "transform": {
                    "location": {
                        "x": 3020.924560546875,
                        "y": 4270.2763671875,
                        "z": 361.5104064941406
                    },
                    "rotation": {
                        "roll": 0.0016653920756652951,
                        "pitch": -0.5247156023979187,
                        "yaw": -170.78628540039062
                    }
                },
                "velocity": {
                    "x": -11.176776885986328,
                    "y": -1.8180756568908691,
                    "z": -0.10787064582109451
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.531400680541992,
                "transform": {
                    "location": {
                        "x": 2953.005615234375,
                        "y": 4266.05615234375,
                        "z": 360.9035339355469
                    },
                    "rotation": {
                        "roll": 0.0019534691236913204,
                        "pitch": 0.4917052984237671,
                        "yaw": 9.40105152130127
                    }
                },
                "velocity": {
                    "x": 8.41719913482666,
                    "y": 1.389591932296753,
                    "z": 0.0676918774843216
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.595906257629395,
                "transform": {
                    "location": {
                        "x": 2952.9521484375,
                        "y": 4262.751953125,
                        "z": 360.9078674316406
                    },
                    "rotation": {
                        "roll": 0.016708387061953545,
                        "pitch": 0.7891053557395935,
                        "yaw": 9.396806716918945
                    }
                },
                "velocity": {
                    "x": 8.480915069580078,
                    "y": 1.3996922969818115,
                    "z": 0.06741224229335785
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.994911193847656,
                "transform": {
                    "location": {
                        "x": 3005.26123046875,
                        "y": 4264.4482421875,
                        "z": 361.3522644042969
                    },
                    "rotation": {
                        "roll": 0.0002563094312790781,
                        "pitch": -0.5210272669792175,
                        "yaw": -170.8180694580078
                    }
                },
                "velocity": {
                    "x": -13.81486988067627,
                    "y": -2.2337775230407715,
                    "z": -0.13091862201690674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.141350746154785,
                "transform": {
                    "location": {
                        "x": 2995.4853515625,
                        "y": 4266.1591796875,
                        "z": 361.2772521972656
                    },
                    "rotation": {
                        "roll": 0.0007367901271209121,
                        "pitch": -0.3874834477901459,
                        "yaw": -170.80728149414062
                    }
                },
                "velocity": {
                    "x": -12.972028732299805,
                    "y": -2.099308490753174,
                    "z": -0.12032102048397064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043042182922363,
                "transform": {
                    "location": {
                        "x": 2996.310546875,
                        "y": 4273.07861328125,
                        "z": 361.2890625
                    },
                    "rotation": {
                        "roll": 0.00208878587000072,
                        "pitch": 0.5285746455192566,
                        "yaw": 9.185396194458008
                    }
                },
                "velocity": {
                    "x": 7.939374923706055,
                    "y": 1.2849665880203247,
                    "z": 0.07558553665876389
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037578582763672,
                "transform": {
                    "location": {
                        "x": 2996.685546875,
                        "y": 4269.84619140625,
                        "z": 361.2936096191406
                    },
                    "rotation": {
                        "roll": -0.00027466684696264565,
                        "pitch": 0.5331850051879883,
                        "yaw": 9.199044227600098
                    }
                },
                "velocity": {
                    "x": 7.933868408203125,
                    "y": 1.2849500179290771,
                    "z": 0.07289022207260132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.392737865447998,
                "transform": {
                    "location": {
                        "x": 3033.2392578125,
                        "y": 4279.0556640625,
                        "z": 361.648193359375
                    },
                    "rotation": {
                        "roll": -0.0009460425353609025,
                        "pitch": 0.5136916637420654,
                        "yaw": 9.184309005737305
                    }
                },
                "velocity": {
                    "x": 5.3231635093688965,
                    "y": 0.8618575930595398,
                    "z": 0.05248967930674553
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.281785488128662,
                "transform": {
                    "location": {
                        "x": 3034.40771484375,
                        "y": 4275.95166015625,
                        "z": 361.6487121582031
                    },
                    "rotation": {
                        "roll": -0.0003051711246371269,
                        "pitch": 0.5441747903823853,
                        "yaw": 9.191221237182617
                    }
                },
                "velocity": {
                    "x": 5.21372127532959,
                    "y": 0.8436207175254822,
                    "z": 0.05168440565466881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.965754508972168,
                "transform": {
                    "location": {
                        "x": 2966.080322265625,
                        "y": 4261.39990234375,
                        "z": 361.0089111328125
                    },
                    "rotation": {
                        "roll": 4.9040299927582964e-05,
                        "pitch": -0.4742063581943512,
                        "yaw": -170.81167602539062
                    }
                },
                "velocity": {
                    "x": -12.79904842376709,
                    "y": -2.0695691108703613,
                    "z": -0.10968948900699615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.408403396606445,
                "transform": {
                    "location": {
                        "x": 2943.242431640625,
                        "y": 4257.7060546875,
                        "z": 360.8280029296875
                    },
                    "rotation": {
                        "roll": 0.0007504745735786855,
                        "pitch": -0.4272761344909668,
                        "yaw": -170.8047637939453
                    }
                },
                "velocity": {
                    "x": -13.235628128051758,
                    "y": -2.1432626247406006,
                    "z": -0.09927181899547577
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.014763318002223969,
        "expert_target_speed": 10.0,
        "target_point": [
            47.936065052890484,
            0.05034049585490319
        ],
        "target_point_next": [
            98.93601672705171,
            0.1542374095956145
        ]
    },
    "205": {
        "acceleration": [
            -0.7433128356933594,
            -0.0791788101196289,
            0.0004920363426208496
        ],
        "angular_velocity": [
            -0.010517477057874203,
            0.010081450454890728,
            -0.15208101272583008
        ],
        "forward_vector": [
            -0.9875591993331909,
            -0.1570616215467453,
            -0.007645412348210812
        ],
        "right_vector": [
            0.15707015991210938,
            -0.9875872731208801,
            -0.0005253108101896942
        ],
        "location": [
            2984.29296875,
            4261.1171875,
            361.1627502441406
        ],
        "rotation": [
            0.03009897470474243,
            -0.4380541443824768,
            -170.96334838867188
        ],
        "velocity": [
            -14.623682975769043,
            -2.3248605728149414,
            -0.13463594019412994
        ],
        "speed": 14.807331983136825,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 52.62099075317383,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2913.971435546875,
                        "y": 4256.361328125,
                        "z": 360.6168212890625
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2914.310791015625,
                        "y": 4259.708984375,
                        "z": 360.67877197265625
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.456541061401367,
                "transform": {
                    "location": {
                        "x": 3023.092041015625,
                        "y": 4267.33251953125,
                        "z": 361.5262451171875
                    },
                    "rotation": {
                        "roll": 0.002565126633271575,
                        "pitch": -0.5077220797538757,
                        "yaw": -170.83128356933594
                    }
                },
                "velocity": {
                    "x": -11.307291030883789,
                    "y": -1.8400225639343262,
                    "z": -0.10874612629413605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.989938735961914,
                "transform": {
                    "location": {
                        "x": 3018.044921875,
                        "y": 4269.80810546875,
                        "z": 361.48260498046875
                    },
                    "rotation": {
                        "roll": 0.002788082929328084,
                        "pitch": -0.5212936401367188,
                        "yaw": -170.79791259765625
                    }
                },
                "velocity": {
                    "x": -11.834734916687012,
                    "y": -1.9196114540100098,
                    "z": -0.11297992616891861
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.392399787902832,
                "transform": {
                    "location": {
                        "x": 2955.12060546875,
                        "y": 4266.40576171875,
                        "z": 360.9208068847656
                    },
                    "rotation": {
                        "roll": 0.0016096160979941487,
                        "pitch": 0.46381762623786926,
                        "yaw": 9.307352066040039
                    }
                },
                "velocity": {
                    "x": 8.281007766723633,
                    "y": 1.3611465692520142,
                    "z": 0.0676025003194809
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.294270515441895,
                "transform": {
                    "location": {
                        "x": 2955.042724609375,
                        "y": 4263.0966796875,
                        "z": 360.92724609375
                    },
                    "rotation": {
                        "roll": 0.006128143519163132,
                        "pitch": 0.4551091492176056,
                        "yaw": 9.323583602905273
                    }
                },
                "velocity": {
                    "x": 8.184011459350586,
                    "y": 1.3462111949920654,
                    "z": 0.06778396666049957
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.166866302490234,
                "transform": {
                    "location": {
                        "x": 3001.7861328125,
                        "y": 4263.8857421875,
                        "z": 361.3195495605469
                    },
                    "rotation": {
                        "roll": -0.0006408667541109025,
                        "pitch": -0.5187665224075317,
                        "yaw": -170.80213928222656
                    }
                },
                "velocity": {
                    "x": -13.984227180480957,
                    "y": -2.263690948486328,
                    "z": -0.13112105429172516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.953245162963867,
                "transform": {
                    "location": {
                        "x": 2992.228759765625,
                        "y": 4265.63232421875,
                        "z": 361.246826171875
                    },
                    "rotation": {
                        "roll": -0.00115966668818146,
                        "pitch": -0.5248112082481384,
                        "yaw": -170.8048858642578
                    }
                },
                "velocity": {
                    "x": -12.78608226776123,
                    "y": -2.0708279609680176,
                    "z": -0.1197284683585167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077220916748047,
                "transform": {
                    "location": {
                        "x": 2998.299560546875,
                        "y": 4273.39990234375,
                        "z": 361.3076171875
                    },
                    "rotation": {
                        "roll": -0.00018310887389816344,
                        "pitch": 0.5287659168243408,
                        "yaw": 9.189363479614258
                    }
                },
                "velocity": {
                    "x": 7.97307825088501,
                    "y": 1.290640950202942,
                    "z": 0.07595418393611908
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033515930175781,
                "transform": {
                    "location": {
                        "x": 2998.66845703125,
                        "y": 4270.16650390625,
                        "z": 361.3121032714844
                    },
                    "rotation": {
                        "roll": 0.00032714620465412736,
                        "pitch": 0.5332533121109009,
                        "yaw": 9.19969367980957
                    }
                },
                "velocity": {
                    "x": 7.929855823516846,
                    "y": 1.2843306064605713,
                    "z": 0.07254762202501297
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.215609073638916,
                "transform": {
                    "location": {
                        "x": 3034.547119140625,
                        "y": 4279.26708984375,
                        "z": 361.6609802246094
                    },
                    "rotation": {
                        "roll": 9.248807327821851e-05,
                        "pitch": 0.5135960578918457,
                        "yaw": 9.185845375061035
                    }
                },
                "velocity": {
                    "x": 5.148507595062256,
                    "y": 0.8324887752532959,
                    "z": 0.04908803850412369
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.148315906524658,
                "transform": {
                    "location": {
                        "x": 3035.6943359375,
                        "y": 4276.15966796875,
                        "z": 361.6612548828125
                    },
                    "rotation": {
                        "roll": 0.0004213996871840209,
                        "pitch": 0.5444889664649963,
                        "yaw": 9.191080093383789
                    }
                },
                "velocity": {
                    "x": 5.0819854736328125,
                    "y": 0.8223000764846802,
                    "z": 0.049031760543584824
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.922537803649902,
                "transform": {
                    "location": {
                        "x": 2962.888916015625,
                        "y": 4260.8837890625,
                        "z": 360.98193359375
                    },
                    "rotation": {
                        "roll": 0.0001349075319012627,
                        "pitch": -0.47531282901763916,
                        "yaw": -170.81915283203125
                    }
                },
                "velocity": {
                    "x": -12.75637435913086,
                    "y": -2.0628602504730225,
                    "z": -0.1073218509554863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.40202808380127,
                "transform": {
                    "location": {
                        "x": 2939.9345703125,
                        "y": 4257.17138671875,
                        "z": 360.80328369140625
                    },
                    "rotation": {
                        "roll": -0.00033569225342944264,
                        "pitch": -0.42303457856178284,
                        "yaw": -170.7989501953125
                    }
                },
                "velocity": {
                    "x": -13.229348182678223,
                    "y": -2.1421689987182617,
                    "z": -0.09916733205318451
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.010707898065447807,
        "expert_target_speed": 10.0,
        "target_point": [
            44.25734133176469,
            0.08092761475178367
        ],
        "target_point_next": [
            95.2572125461459,
            0.21877336911309087
        ]
    },
    "210": {
        "acceleration": [
            -0.6435012817382812,
            -0.06015300750732422,
            0.021556317806243896
        ],
        "angular_velocity": [
            -0.03074069507420063,
            -0.003932101186364889,
            -0.1539154052734375
        ],
        "forward_vector": [
            -0.9876634478569031,
            -0.15640297532081604,
            -0.007680459413677454
        ],
        "right_vector": [
            0.15641039609909058,
            -0.98769211769104,
            -0.00037061626790091395
        ],
        "location": [
            2980.6142578125,
            4260.533203125,
            361.12884521484375
        ],
        "rotation": [
            0.021235374733805656,
            -0.4400622248649597,
            -171.00155639648438
        ],
        "velocity": [
            -14.794870376586914,
            -2.342273712158203,
            -0.1342649757862091
        ],
        "speed": 14.979133339505205,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.89693069458008,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.580618381500244,
                "transform": {
                    "location": {
                        "x": 2915.732421875,
                        "y": 4256.65478515625,
                        "z": 360.6300964355469
                    },
                    "rotation": {
                        "roll": 0.023952418938279152,
                        "pitch": 0.5389360189437866,
                        "yaw": 9.48830509185791
                    }
                },
                "velocity": {
                    "x": 6.479588031768799,
                    "y": 1.1473363637924194,
                    "z": 0.05566711351275444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092808723449707,
                "transform": {
                    "location": {
                        "x": 2916.310546875,
                        "y": 4260.0498046875,
                        "z": 360.6453857421875
                    },
                    "rotation": {
                        "roll": -0.0201416015625,
                        "pitch": 0.38811182975769043,
                        "yaw": 9.67597770690918
                    }
                },
                "velocity": {
                    "x": 7.9770379066467285,
                    "y": 1.3639624118804932,
                    "z": -0.005529508460313082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.150961875915527,
                "transform": {
                    "location": {
                        "x": 3020.17431640625,
                        "y": 4266.859375,
                        "z": 361.4981994628906
                    },
                    "rotation": {
                        "roll": 0.0015021000290289521,
                        "pitch": -0.5212048888206482,
                        "yaw": -170.85873413085938
                    }
                },
                "velocity": {
                    "x": -11.994498252868652,
                    "y": -1.9402010440826416,
                    "z": -0.11627117544412613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.64041519165039,
                "transform": {
                    "location": {
                        "x": 3015.001220703125,
                        "y": 4269.31494140625,
                        "z": 361.45343017578125
                    },
                    "rotation": {
                        "roll": 0.0017224294133484364,
                        "pitch": -0.5209658145904541,
                        "yaw": -170.81080627441406
                    }
                },
                "velocity": {
                    "x": -12.477272987365723,
                    "y": -2.0207715034484863,
                    "z": -0.11935984343290329
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02706527709961,
                "transform": {
                    "location": {
                        "x": 2957.140625,
                        "y": 4266.736328125,
                        "z": 360.93743896484375
                    },
                    "rotation": {
                        "roll": 0.0005383340758271515,
                        "pitch": 0.44853851199150085,
                        "yaw": 9.254305839538574
                    }
                },
                "velocity": {
                    "x": 7.922117710113525,
                    "y": 1.2921581268310547,
                    "z": 0.06448961049318314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.900055885314941,
                "transform": {
                    "location": {
                        "x": 2957.03076171875,
                        "y": 4263.4228515625,
                        "z": 360.9445495605469
                    },
                    "rotation": {
                        "roll": 0.006718178745359182,
                        "pitch": 0.32105985283851624,
                        "yaw": 9.294271469116211
                    }
                },
                "velocity": {
                    "x": 7.796391010284424,
                    "y": 1.273997187614441,
                    "z": 0.0640498697757721
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.348292350769043,
                "transform": {
                    "location": {
                        "x": 2998.2666015625,
                        "y": 4263.3154296875,
                        "z": 361.28662109375
                    },
                    "rotation": {
                        "roll": -0.00042724766535684466,
                        "pitch": -0.5162051916122437,
                        "yaw": -170.80389404296875
                    }
                },
                "velocity": {
                    "x": -14.16324520111084,
                    "y": -2.2931671142578125,
                    "z": -0.13172225654125214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.769211769104004,
                "transform": {
                    "location": {
                        "x": 2989.076171875,
                        "y": 4265.1220703125,
                        "z": 361.2174987792969
                    },
                    "rotation": {
                        "roll": -0.00030517179402522743,
                        "pitch": -0.5574663281440735,
                        "yaw": -170.80650329589844
                    }
                },
                "velocity": {
                    "x": -12.604654312133789,
                    "y": -2.03994083404541,
                    "z": -0.11879577487707138
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04443073272705,
                "transform": {
                    "location": {
                        "x": 3000.2890625,
                        "y": 4273.72216796875,
                        "z": 361.32623291015625
                    },
                    "rotation": {
                        "roll": 0.0004540235677268356,
                        "pitch": 0.5304939150810242,
                        "yaw": 9.195924758911133
                    }
                },
                "velocity": {
                    "x": 7.940698146820068,
                    "y": 1.2854722738265991,
                    "z": 0.07581739127635956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037593841552734,
                "transform": {
                    "location": {
                        "x": 3000.651123046875,
                        "y": 4270.48779296875,
                        "z": 361.33062744140625
                    },
                    "rotation": {
                        "roll": 0.0010795436101034284,
                        "pitch": 0.5349950194358826,
                        "yaw": 9.202452659606934
                    }
                },
                "velocity": {
                    "x": 7.933929920196533,
                    "y": 1.2845901250839233,
                    "z": 0.07422488927841187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.029609680175781,
                "transform": {
                    "location": {
                        "x": 3035.810302734375,
                        "y": 4279.47119140625,
                        "z": 361.67315673828125
                    },
                    "rotation": {
                        "roll": 0.0008454570197500288,
                        "pitch": 0.5165808200836182,
                        "yaw": 9.183465003967285
                    }
                },
                "velocity": {
                    "x": 4.964900970458984,
                    "y": 0.8027076721191406,
                    "z": 0.04887726530432701
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.987313747406006,
                "transform": {
                    "location": {
                        "x": 3036.942626953125,
                        "y": 4276.361328125,
                        "z": 361.67327880859375
                    },
                    "rotation": {
                        "roll": -0.00030517118284478784,
                        "pitch": 0.5458686947822571,
                        "yaw": 9.19107723236084
                    }
                },
                "velocity": {
                    "x": 4.923053741455078,
                    "y": 0.7965622544288635,
                    "z": 0.048255909234285355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945938110351562,
                "transform": {
                    "location": {
                        "x": 2959.69677734375,
                        "y": 4260.3671875,
                        "z": 360.95550537109375
                    },
                    "rotation": {
                        "roll": 0.0003246915293857455,
                        "pitch": -0.4664609134197235,
                        "yaw": -170.80422973632812
                    }
                },
                "velocity": {
                    "x": -12.779350280761719,
                    "y": -2.067455291748047,
                    "z": -0.10557509958744049
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403141975402832,
                "transform": {
                    "location": {
                        "x": 2936.627197265625,
                        "y": 4256.6357421875,
                        "z": 360.77862548828125
                    },
                    "rotation": {
                        "roll": -0.0023498525843024254,
                        "pitch": -0.42377224564552307,
                        "yaw": -170.8012237548828
                    }
                },
                "velocity": {
                    "x": -13.230073928833008,
                    "y": -2.144667387008667,
                    "z": -0.09881855547428131
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.005634969100356102,
        "expert_target_speed": 10.0,
        "target_point": [
            40.5325023508022,
            0.10903134135971104
        ],
        "target_point_next": [
            91.53227026107278,
            0.28089883101423574
        ]
    },
    "215": {
        "acceleration": [
            -0.5759048461914062,
            -0.049271583557128906,
            0.014116168022155762
        ],
        "angular_velocity": [
            0.01787257008254528,
            -0.041236501187086105,
            -0.1547924131155014
        ],
        "forward_vector": [
            -0.9877692461013794,
            -0.15573757886886597,
            -0.007596776820719242
        ],
        "right_vector": [
            0.1557444930076599,
            -0.9877973198890686,
            -0.0003230726288165897
        ],
        "location": [
            2976.8955078125,
            4259.9453125,
            361.09527587890625
        ],
        "rotation": [
            0.018511231988668442,
            -0.43526744842529297,
            -171.0401611328125
        ],
        "velocity": [
            -14.946328163146973,
            -2.3562676906585693,
            -0.13428977131843567
        ],
        "speed": 15.130919436389906,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.132930755615234,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.624594211578369,
                "transform": {
                    "location": {
                        "x": 2917.358642578125,
                        "y": 4256.93505859375,
                        "z": 360.64385986328125
                    },
                    "rotation": {
                        "roll": 0.0012518937001004815,
                        "pitch": 0.42739224433898926,
                        "yaw": 9.687125205993652
                    }
                },
                "velocity": {
                    "x": 6.529918670654297,
                    "y": 1.1149038076400757,
                    "z": 0.04898931458592415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.070606231689453,
                "transform": {
                    "location": {
                        "x": 2918.302001953125,
                        "y": 4260.39013671875,
                        "z": 360.6529235839844
                    },
                    "rotation": {
                        "roll": -0.003448487026616931,
                        "pitch": 0.40345925092697144,
                        "yaw": 9.707918167114258
                    }
                },
                "velocity": {
                    "x": 7.954860687255859,
                    "y": 1.361085057258606,
                    "z": 0.04824700206518173
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.814651489257812,
                "transform": {
                    "location": {
                        "x": 3017.09033203125,
                        "y": 4266.361328125,
                        "z": 361.4684753417969
                    },
                    "rotation": {
                        "roll": 0.0014040754176676273,
                        "pitch": -0.5212048888206482,
                        "yaw": -170.84207153320312
                    }
                },
                "velocity": {
                    "x": -12.650043487548828,
                    "y": -2.043799638748169,
                    "z": -0.1206650510430336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.515989303588867,
                "transform": {
                    "location": {
                        "x": 3011.8798828125,
                        "y": 4268.8095703125,
                        "z": 361.4237365722656
                    },
                    "rotation": {
                        "roll": 0.0007438369211740792,
                        "pitch": -0.5424535870552063,
                        "yaw": -170.8095703125
                    }
                },
                "velocity": {
                    "x": -12.354780197143555,
                    "y": -1.9988552331924438,
                    "z": -0.11815860122442245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.909984588623047,
                "transform": {
                    "location": {
                        "x": 2959.0205078125,
                        "y": 4267.04296875,
                        "z": 360.9529724121094
                    },
                    "rotation": {
                        "roll": 0.0005973485531285405,
                        "pitch": 0.4347415268421173,
                        "yaw": 9.22744369506836
                    }
                },
                "velocity": {
                    "x": 6.82007360458374,
                    "y": 1.1096289157867432,
                    "z": 0.056609857827425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046764373779297,
                "transform": {
                    "location": {
                        "x": 2958.9912109375,
                        "y": 4263.7431640625,
                        "z": 360.95953369140625
                    },
                    "rotation": {
                        "roll": 0.004328743554651737,
                        "pitch": 0.4685167968273163,
                        "yaw": 9.260340690612793
                    }
                },
                "velocity": {
                    "x": 7.941854476928711,
                    "y": 1.29349684715271,
                    "z": 0.06508735567331314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.50466251373291,
                "transform": {
                    "location": {
                        "x": 2994.704833984375,
                        "y": 4262.73876953125,
                        "z": 361.25341796875
                    },
                    "rotation": {
                        "roll": 0.0011708247475326061,
                        "pitch": -0.5173936486244202,
                        "yaw": -170.8048858642578
                    }
                },
                "velocity": {
                    "x": -14.318007469177246,
                    "y": -2.3156826496124268,
                    "z": -0.1323675662279129
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.658432960510254,
                "transform": {
                    "location": {
                        "x": 2985.94873046875,
                        "y": 4264.61572265625,
                        "z": 361.1882019042969
                    },
                    "rotation": {
                        "roll": -0.0007629358442500234,
                        "pitch": -0.5550826191902161,
                        "yaw": -170.80189514160156
                    }
                },
                "velocity": {
                    "x": -12.4951753616333,
                    "y": -2.0231480598449707,
                    "z": -0.11567488312721252
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077695846557617,
                "transform": {
                    "location": {
                        "x": 3002.2783203125,
                        "y": 4274.04443359375,
                        "z": 361.34490966796875
                    },
                    "rotation": {
                        "roll": -0.00033569434890523553,
                        "pitch": 0.5341753959655762,
                        "yaw": 9.196464538574219
                    }
                },
                "velocity": {
                    "x": 7.973527431488037,
                    "y": 1.2908660173416138,
                    "z": 0.07550348341464996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035311698913574,
                "transform": {
                    "location": {
                        "x": 3002.634521484375,
                        "y": 4270.80859375,
                        "z": 361.3492126464844
                    },
                    "rotation": {
                        "roll": 0.000247898802626878,
                        "pitch": 0.538737952709198,
                        "yaw": 9.200557708740234
                    }
                },
                "velocity": {
                    "x": 7.931582450866699,
                    "y": 1.2847050428390503,
                    "z": 0.07590169459581375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.504857540130615,
                "transform": {
                    "location": {
                        "x": 3037.019287109375,
                        "y": 4279.6669921875,
                        "z": 361.6846008300781
                    },
                    "rotation": {
                        "roll": -0.0037841785233467817,
                        "pitch": 0.44468626379966736,
                        "yaw": 9.05457592010498
                    }
                },
                "velocity": {
                    "x": 4.44661283493042,
                    "y": 0.7208601832389832,
                    "z": 0.041655540466308594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.828619003295898,
                "transform": {
                    "location": {
                        "x": 3038.166748046875,
                        "y": 4276.5595703125,
                        "z": 361.6849670410156
                    },
                    "rotation": {
                        "roll": 0.00010315789404558018,
                        "pitch": 0.5471049547195435,
                        "yaw": 9.190295219421387
                    }
                },
                "velocity": {
                    "x": 4.7664361000061035,
                    "y": 0.7710540890693665,
                    "z": 0.046096306294202805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.949570655822754,
                "transform": {
                    "location": {
                        "x": 2956.5009765625,
                        "y": 4259.85009765625,
                        "z": 360.929443359375
                    },
                    "rotation": {
                        "roll": -0.00015259016072377563,
                        "pitch": -0.45491790771484375,
                        "yaw": -170.8161163330078
                    }
                },
                "velocity": {
                    "x": -12.783130645751953,
                    "y": -2.066922664642334,
                    "z": -0.10379583388566971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403979301452637,
                "transform": {
                    "location": {
                        "x": 2933.3193359375,
                        "y": 4256.10107421875,
                        "z": 360.7540283203125
                    },
                    "rotation": {
                        "roll": -0.0018310536397621036,
                        "pitch": -0.4212382435798645,
                        "yaw": -170.7911834716797
                    }
                },
                "velocity": {
                    "x": -13.231009483337402,
                    "y": -2.1441116333007812,
                    "z": -0.0991031751036644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.004506909754127264,
        "expert_target_speed": 10.0,
        "target_point": [
            36.76748754364209,
            0.13477081298378923
        ],
        "target_point_next": [
            87.76712817682831,
            0.34097610225992625
        ]
    },
    "220": {
        "acceleration": [
            -0.33016204833984375,
            -0.010552406311035156,
            0.013631284236907959
        ],
        "angular_velocity": [
            -0.024930013343691826,
            -0.031263187527656555,
            -0.15616002678871155
        ],
        "forward_vector": [
            -0.9878742098808289,
            -0.15506725013256073,
            -0.007661863230168819
        ],
        "right_vector": [
            0.1550741344690323,
            -0.9879027605056763,
            -0.0003115861036349088
        ],
        "location": [
            2973.14404296875,
            4259.35546875,
            361.0619812011719
        ],
        "rotation": [
            0.017853092402219772,
            -0.43899673223495483,
            -171.07904052734375
        ],
        "velocity": [
            -15.05184268951416,
            -2.3626303672790527,
            -0.13344059884548187
        ],
        "speed": 15.23614093536385,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.33660888671875,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5138092041015625,
                "transform": {
                    "location": {
                        "x": 2918.97705078125,
                        "y": 4257.2109375,
                        "z": 360.65570068359375
                    },
                    "rotation": {
                        "roll": 0.0036263270303606987,
                        "pitch": 0.41177159547805786,
                        "yaw": 9.688813209533691
                    }
                },
                "velocity": {
                    "x": 6.42071008682251,
                    "y": 1.096289873123169,
                    "z": 0.048399027436971664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032122611999512,
                "transform": {
                    "location": {
                        "x": 2920.285888671875,
                        "y": 4260.72998046875,
                        "z": 360.66619873046875
                    },
                    "rotation": {
                        "roll": 0.002621134975925088,
                        "pitch": 0.40898486971855164,
                        "yaw": 9.708337783813477
                    }
                },
                "velocity": {
                    "x": 7.916871070861816,
                    "y": 1.3546043634414673,
                    "z": 0.056478824466466904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.472339630126953,
                "transform": {
                    "location": {
                        "x": 3013.843017578125,
                        "y": 4265.8369140625,
                        "z": 361.4373779296875
                    },
                    "rotation": {
                        "roll": -6.104067142587155e-05,
                        "pitch": -0.521484911441803,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -13.299260139465332,
                    "y": -2.148756980895996,
                    "z": -0.12832719087600708
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.291485786437988,
                "transform": {
                    "location": {
                        "x": 3008.830810546875,
                        "y": 4268.31689453125,
                        "z": 361.39471435546875
                    },
                    "rotation": {
                        "roll": 0.00028198465588502586,
                        "pitch": -0.5409509539604187,
                        "yaw": -170.82644653320312
                    }
                },
                "velocity": {
                    "x": -12.133479118347168,
                    "y": -1.961117148399353,
                    "z": -0.1154051199555397
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.87894868850708,
                "transform": {
                    "location": {
                        "x": 2960.69482421875,
                        "y": 4267.3154296875,
                        "z": 360.9666748046875
                    },
                    "rotation": {
                        "roll": 0.0006748862215317786,
                        "pitch": 0.45812124013900757,
                        "yaw": 9.219244003295898
                    }
                },
                "velocity": {
                    "x": 6.789917469024658,
                    "y": 1.1016889810562134,
                    "z": 0.05692208185791969
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.1378755569458,
                "transform": {
                    "location": {
                        "x": 2960.99609375,
                        "y": 4264.06982421875,
                        "z": 360.9755859375
                    },
                    "rotation": {
                        "roll": 0.0012640566565096378,
                        "pitch": 0.5333489775657654,
                        "yaw": 9.245223045349121
                    }
                },
                "velocity": {
                    "x": 8.032071113586426,
                    "y": 1.3063994646072388,
                    "z": 0.06453827023506165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.635540962219238,
                "transform": {
                    "location": {
                        "x": 2991.108154296875,
                        "y": 4262.15673828125,
                        "z": 361.2198791503906
                    },
                    "rotation": {
                        "roll": -0.00012206462270114571,
                        "pitch": -0.5194700360298157,
                        "yaw": -170.81260681152344
                    }
                },
                "velocity": {
                    "x": -14.44743537902832,
                    "y": -2.335035562515259,
                    "z": -0.13518090546131134
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.850526809692383,
                "transform": {
                    "location": {
                        "x": 2982.775634765625,
                        "y": 4264.1015625,
                        "z": 361.1587829589844
                    },
                    "rotation": {
                        "roll": -0.00033568605431355536,
                        "pitch": -0.5030160546302795,
                        "yaw": -170.80181884765625
                    }
                },
                "velocity": {
                    "x": -12.68475341796875,
                    "y": -2.054074287414551,
                    "z": -0.11767340451478958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043481826782227,
                "transform": {
                    "location": {
                        "x": 3004.267333984375,
                        "y": 4274.36669921875,
                        "z": 361.3636779785156
                    },
                    "rotation": {
                        "roll": 0.00042015823419205844,
                        "pitch": 0.5338612198829651,
                        "yaw": 9.196410179138184
                    }
                },
                "velocity": {
                    "x": 7.939741134643555,
                    "y": 1.2854266166687012,
                    "z": 0.07607387006282806
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036131858825684,
                "transform": {
                    "location": {
                        "x": 3004.617431640625,
                        "y": 4271.1298828125,
                        "z": 361.3679504394531
                    },
                    "rotation": {
                        "roll": 0.0004873795551247895,
                        "pitch": 0.5388404130935669,
                        "yaw": 9.203378677368164
                    }
                },
                "velocity": {
                    "x": 7.93230676651001,
                    "y": 1.2853810787200928,
                    "z": 0.07570657879114151
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.717910289764404,
                "transform": {
                    "location": {
                        "x": 3038.121826171875,
                        "y": 4279.8447265625,
                        "z": 361.6954345703125
                    },
                    "rotation": {
                        "roll": 0.0008842803654260933,
                        "pitch": 0.5523983240127563,
                        "yaw": 9.10483455657959
                    }
                },
                "velocity": {
                    "x": 4.657571792602539,
                    "y": 0.7507741451263428,
                    "z": 0.04517247900366783
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.6180644035339355,
                "transform": {
                    "location": {
                        "x": 3039.325927734375,
                        "y": 4276.7470703125,
                        "z": 361.6963195800781
                    },
                    "rotation": {
                        "roll": -0.0009765616850927472,
                        "pitch": 0.5490720272064209,
                        "yaw": 9.190122604370117
                    }
                },
                "velocity": {
                    "x": 4.558576583862305,
                    "y": 0.7374794483184814,
                    "z": 0.04493739828467369
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.94588851928711,
                "transform": {
                    "location": {
                        "x": 2953.3056640625,
                        "y": 4259.33203125,
                        "z": 360.9039001464844
                    },
                    "rotation": {
                        "roll": 0.0002363657986279577,
                        "pitch": -0.44912588596343994,
                        "yaw": -170.80908203125
                    }
                },
                "velocity": {
                    "x": -12.779462814331055,
                    "y": -2.066635847091675,
                    "z": -0.10188344120979309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403549194335938,
                "transform": {
                    "location": {
                        "x": 2930.01171875,
                        "y": 4255.5654296875,
                        "z": 360.7294921875
                    },
                    "rotation": {
                        "roll": 7.292289228644222e-05,
                        "pitch": -0.4197082817554474,
                        "yaw": -170.80801391601562
                    }
                },
                "velocity": {
                    "x": -13.230899810791016,
                    "y": -2.14212965965271,
                    "z": -0.09848006814718246
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.012081405147910118,
        "expert_target_speed": 10.0,
        "target_point": [
            32.96983529243431,
            0.15877289096571
        ],
        "target_point_next": [
            83.96932415189704,
            0.3996077078054654
        ]
    },
    "225": {
        "acceleration": [
            -0.10999679565429688,
            0.02330780029296875,
            0.004887580871582031
        ],
        "angular_velocity": [
            0.052241191267967224,
            -0.019969794899225235,
            -0.15648970007896423
        ],
        "forward_vector": [
            -0.9879781603813171,
            -0.15439286828041077,
            -0.007872738875448704
        ],
        "right_vector": [
            0.15440019965171814,
            -0.9880083203315735,
            -0.00032903594546951354
        ],
        "location": [
            2969.371826171875,
            4258.76513671875,
            361.02923583984375
        ],
        "rotation": [
            0.018852954730391502,
            -0.4510793387889862,
            -171.11813354492188
        ],
        "velocity": [
            -15.112950325012207,
            -2.361767530441284,
            -0.13074035942554474
        ],
        "speed": 15.296379094221393,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.52009201049805,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.12268590927124,
                "transform": {
                    "location": {
                        "x": 2920.554931640625,
                        "y": 4257.48046875,
                        "z": 360.66693115234375
                    },
                    "rotation": {
                        "roll": 0.004254715517163277,
                        "pitch": 0.45048511028289795,
                        "yaw": 9.692440032958984
                    }
                },
                "velocity": {
                    "x": 6.035117149353027,
                    "y": 1.0308691263198853,
                    "z": 0.0441947840154171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.009196281433105,
                "transform": {
                    "location": {
                        "x": 2922.262939453125,
                        "y": 4261.06396484375,
                        "z": 360.6805114746094
                    },
                    "rotation": {
                        "roll": 0.016588371247053146,
                        "pitch": 0.40945616364479065,
                        "yaw": 9.571900367736816
                    }
                },
                "velocity": {
                    "x": 7.898889541625977,
                    "y": 1.3234660625457764,
                    "z": 0.056661613285541534
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.065287590026855,
                "transform": {
                    "location": {
                        "x": 3010.4375,
                        "y": 4265.2861328125,
                        "z": 361.40472412109375
                    },
                    "rotation": {
                        "roll": -0.0007629343890585005,
                        "pitch": -0.5160480737686157,
                        "yaw": -170.80453491210938
                    }
                },
                "velocity": {
                    "x": -13.88420295715332,
                    "y": -2.2458853721618652,
                    "z": -0.13117146492004395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.663033485412598,
                "transform": {
                    "location": {
                        "x": 3005.759033203125,
                        "y": 4267.8203125,
                        "z": 361.3656311035156
                    },
                    "rotation": {
                        "roll": 0.00034586613764986396,
                        "pitch": -0.5239574313163757,
                        "yaw": -170.82029724121094
                    }
                },
                "velocity": {
                    "x": -12.50031566619873,
                    "y": -2.0200979709625244,
                    "z": -0.11721544712781906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.692215442657471,
                "transform": {
                    "location": {
                        "x": 2962.48681640625,
                        "y": 4267.60595703125,
                        "z": 360.9812316894531
                    },
                    "rotation": {
                        "roll": 0.0003592120483517647,
                        "pitch": 0.4964181184768677,
                        "yaw": 9.210156440734863
                    }
                },
                "velocity": {
                    "x": 7.592893123626709,
                    "y": 1.2304496765136719,
                    "z": 0.06437324732542038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062068939208984,
                "transform": {
                    "location": {
                        "x": 2962.994384765625,
                        "y": 4264.39404296875,
                        "z": 360.99273681640625
                    },
                    "rotation": {
                        "roll": 0.0027504977770149708,
                        "pitch": 0.4620281159877777,
                        "yaw": 9.225838661193848
                    }
                },
                "velocity": {
                    "x": 7.957677364349365,
                    "y": 1.291496753692627,
                    "z": 0.06607503443956375
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.721860885620117,
                "transform": {
                    "location": {
                        "x": 2987.484375,
                        "y": 4261.5712890625,
                        "z": 361.18603515625
                    },
                    "rotation": {
                        "roll": 0.0007632352062501013,
                        "pitch": -0.5217034816741943,
                        "yaw": -170.81613159179688
                    }
                },
                "velocity": {
                    "x": -14.532514572143555,
                    "y": -2.3496217727661133,
                    "z": -0.13596877455711365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.846506118774414,
                "transform": {
                    "location": {
                        "x": 2979.6298828125,
                        "y": 4263.59228515625,
                        "z": 361.1298828125
                    },
                    "rotation": {
                        "roll": -0.0001525814295746386,
                        "pitch": -0.5117791891098022,
                        "yaw": -170.80177307128906
                    }
                },
                "velocity": {
                    "x": -12.680800437927246,
                    "y": -2.0534656047821045,
                    "z": -0.11536894738674164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078322410583496,
                "transform": {
                    "location": {
                        "x": 3006.2568359375,
                        "y": 4274.689453125,
                        "z": 361.3824462890625
                    },
                    "rotation": {
                        "roll": 0.00019508239347487688,
                        "pitch": 0.5339363217353821,
                        "yaw": 9.196396827697754
                    }
                },
                "velocity": {
                    "x": 7.974125862121582,
                    "y": 1.2910243272781372,
                    "z": 0.07666049897670746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035016059875488,
                "transform": {
                    "location": {
                        "x": 3006.6005859375,
                        "y": 4271.45068359375,
                        "z": 361.3866271972656
                    },
                    "rotation": {
                        "roll": 0.0014657772844657302,
                        "pitch": 0.5389975309371948,
                        "yaw": 9.195950508117676
                    }
                },
                "velocity": {
                    "x": 7.931406021118164,
                    "y": 1.2839785814285278,
                    "z": 0.0754021629691124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3039.307373046875,
                        "y": 4279.95556640625,
                        "z": 361.70660400390625
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3040.46826171875,
                        "y": 4276.90966796875,
                        "z": 361.70855712890625
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2899.072509765625,
                        "y": 4247.36669921875,
                        "z": 360.64984130859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945523262023926,
                "transform": {
                    "location": {
                        "x": 2950.11083984375,
                        "y": 4258.81591796875,
                        "z": 360.8788146972656
                    },
                    "rotation": {
                        "roll": 0.0008583948947489262,
                        "pitch": -0.4423845112323761,
                        "yaw": -170.8269805908203
                    }
                },
                "velocity": {
                    "x": -12.779361724853516,
                    "y": -2.065091609954834,
                    "z": -0.09943874180316925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403458595275879,
                "transform": {
                    "location": {
                        "x": 2926.7041015625,
                        "y": 4255.03076171875,
                        "z": 360.705078125
                    },
                    "rotation": {
                        "roll": 0.0006620089407078922,
                        "pitch": -0.41723573207855225,
                        "yaw": -170.8042449951172
                    }
                },
                "velocity": {
                    "x": -13.23094654083252,
                    "y": -2.1413016319274902,
                    "z": -0.09790193289518356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02230006270110607,
        "expert_target_speed": 10.0,
        "target_point": [
            29.15159013911576,
            0.18042278873632167
        ],
        "target_point_next": [
            80.15090292256635,
            0.45603293230509934
        ]
    },
    "230": {
        "acceleration": [
            2.693042755126953,
            0.46009063720703125,
            0.04004389047622681
        ],
        "angular_velocity": [
            0.12788774073123932,
            -0.8195279836654663,
            -0.15892884135246277
        ],
        "forward_vector": [
            -0.9880691170692444,
            -0.15370899438858032,
            -0.009644716046750546
        ],
        "right_vector": [
            0.1537192314863205,
            -0.9881145358085632,
            -0.0003254755574744195
        ],
        "location": [
            2965.624267578125,
            4258.1806640625,
            360.99761962890625
        ],
        "rotation": [
            0.01864924281835556,
            -0.5526100993156433,
            -171.15765380859375
        ],
        "velocity": [
            -14.75672435760498,
            -2.295834541320801,
            -0.12511970102787018
        ],
        "speed": 14.934248223712295,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.72930145263672,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.117656707763672,
                "transform": {
                    "location": {
                        "x": 2922.03955078125,
                        "y": 4257.73193359375,
                        "z": 360.6780090332031
                    },
                    "rotation": {
                        "roll": -0.002410890068858862,
                        "pitch": 0.4157126247882843,
                        "yaw": 9.614821434020996
                    }
                },
                "velocity": {
                    "x": 6.034494400024414,
                    "y": 1.0043047666549683,
                    "z": 0.04442644119262695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.442636013031006,
                "transform": {
                    "location": {
                        "x": 2924.03515625,
                        "y": 4261.359375,
                        "z": 360.6932678222656
                    },
                    "rotation": {
                        "roll": 0.008666220121085644,
                        "pitch": 0.167052760720253,
                        "yaw": 9.465632438659668
                    }
                },
                "velocity": {
                    "x": 6.355198860168457,
                    "y": 1.0567604303359985,
                    "z": 0.04761343076825142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.257554054260254,
                "transform": {
                    "location": {
                        "x": 3006.93359375,
                        "y": 4264.71923828125,
                        "z": 361.3717956542969
                    },
                    "rotation": {
                        "roll": -0.00012206802784930915,
                        "pitch": -0.5227689743041992,
                        "yaw": -170.80078125
                    }
                },
                "velocity": {
                    "x": -14.073758125305176,
                    "y": -2.2781333923339844,
                    "z": -0.13147573173046112
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.595623016357422,
                "transform": {
                    "location": {
                        "x": 3002.628662109375,
                        "y": 4267.314453125,
                        "z": 361.3362731933594
                    },
                    "rotation": {
                        "roll": 0.00042521420982666314,
                        "pitch": -0.5316140651702881,
                        "yaw": -170.82693481445312
                    }
                },
                "velocity": {
                    "x": -12.433815956115723,
                    "y": -2.008986234664917,
                    "z": -0.11793414503335953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.726887702941895,
                "transform": {
                    "location": {
                        "x": 2964.481201171875,
                        "y": 4267.92919921875,
                        "z": 360.9979248046875
                    },
                    "rotation": {
                        "roll": -0.00100708135869354,
                        "pitch": 0.5231788158416748,
                        "yaw": 9.202899932861328
                    }
                },
                "velocity": {
                    "x": 8.61418342590332,
                    "y": 1.396085500717163,
                    "z": 0.07325616478919983
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.023896217346191,
                "transform": {
                    "location": {
                        "x": 2964.9755859375,
                        "y": 4264.7158203125,
                        "z": 361.00927734375
                    },
                    "rotation": {
                        "roll": 0.0004064799577463418,
                        "pitch": 0.47012871503829956,
                        "yaw": 9.217215538024902
                    }
                },
                "velocity": {
                    "x": 7.919990539550781,
                    "y": 1.2852981090545654,
                    "z": 0.0683017298579216
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.714850425720215,
                "transform": {
                    "location": {
                        "x": 2983.847412109375,
                        "y": 4260.98291015625,
                        "z": 361.1522521972656
                    },
                    "rotation": {
                        "roll": 0.0009756234940141439,
                        "pitch": -0.521669328212738,
                        "yaw": -170.81678771972656
                    }
                },
                "velocity": {
                    "x": -14.525619506835938,
                    "y": -2.348362922668457,
                    "z": -0.13557183742523193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.669705390930176,
                "transform": {
                    "location": {
                        "x": 2976.4697265625,
                        "y": 4263.0810546875,
                        "z": 361.1012878417969
                    },
                    "rotation": {
                        "roll": 0.001771557261236012,
                        "pitch": -0.5350018739700317,
                        "yaw": -170.81661987304688
                    }
                },
                "velocity": {
                    "x": -12.506752967834473,
                    "y": -2.02237868309021,
                    "z": -0.11200728267431259
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044661521911621,
                "transform": {
                    "location": {
                        "x": 3008.245849609375,
                        "y": 4275.01123046875,
                        "z": 361.4012145996094
                    },
                    "rotation": {
                        "roll": 0.0001282516896026209,
                        "pitch": 0.5336357951164246,
                        "yaw": 9.193994522094727
                    }
                },
                "velocity": {
                    "x": 7.940967082977295,
                    "y": 1.2852330207824707,
                    "z": 0.07616183906793594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037332534790039,
                "transform": {
                    "location": {
                        "x": 3008.583740234375,
                        "y": 4271.771484375,
                        "z": 361.40533447265625
                    },
                    "rotation": {
                        "roll": 0.00020587860490195453,
                        "pitch": 0.5388404130935669,
                        "yaw": 9.198447227478027
                    }
                },
                "velocity": {
                    "x": 7.933773517608643,
                    "y": 1.2838433980941772,
                    "z": 0.07550199329853058
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3040.443115234375,
                        "y": 4280.13232421875,
                        "z": 361.7177734375
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26424,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3041.583740234375,
                        "y": 4277.05810546875,
                        "z": 361.72125244140625
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8715952038764954,
                "transform": {
                    "location": {
                        "x": 2899.07275390625,
                        "y": 4247.36669921875,
                        "z": 360.5447998046875
                    },
                    "rotation": {
                        "roll": 0.0002244476490886882,
                        "pitch": -0.39117857813835144,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": 0.005907250102609396,
                    "y": 0.0008836316410452127,
                    "z": -0.8715746998786926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945671081542969,
                "transform": {
                    "location": {
                        "x": 2946.915771484375,
                        "y": 4258.30029296875,
                        "z": 360.8541564941406
                    },
                    "rotation": {
                        "roll": 8.985219028545544e-05,
                        "pitch": -0.42999452352523804,
                        "yaw": -170.81446838378906
                    }
                },
                "velocity": {
                    "x": -12.77934741973877,
                    "y": -2.0661308765411377,
                    "z": -0.09892712533473969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403459548950195,
                "transform": {
                    "location": {
                        "x": 2923.396240234375,
                        "y": 4254.4951171875,
                        "z": 360.68084716796875
                    },
                    "rotation": {
                        "roll": -0.0008850092999637127,
                        "pitch": -0.41265952587127686,
                        "yaw": -170.7985382080078
                    }
                },
                "velocity": {
                    "x": -13.230605125427246,
                    "y": -2.143503427505493,
                    "z": -0.09611446410417557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03389177471399307,
        "expert_target_speed": 10.0,
        "target_point": [
            25.358596885508277,
            0.19905825521084664
        ],
        "target_point_next": [
            76.35770751095279,
            0.5098326897066894
        ]
    },
    "235": {
        "acceleration": [
            3.3818435668945312,
            0.54046630859375,
            0.046775490045547485
        ],
        "angular_velocity": [
            0.05432523787021637,
            -0.5079021453857422,
            -0.03220297023653984
        ],
        "forward_vector": [
            -0.9880943298339844,
            -0.15332520008087158,
            -0.012683765962719917
        ],
        "right_vector": [
            0.1533406525850296,
            -0.9881733059883118,
            -0.0002492499479558319
        ],
        "location": [
            2962.04052734375,
            4257.62353515625,
            360.96832275390625
        ],
        "rotation": [
            0.01428211946040392,
            -0.7267457246780396,
            -171.1796112060547
        ],
        "velocity": [
            -13.940757751464844,
            -2.164048671722412,
            -0.11596303433179855
        ],
        "speed": 14.107722471703598,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.105091094970703,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2885.93798828125,
                        "y": 4255.1181640625,
                        "z": 360.54742431640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.106443405151367,
                "transform": {
                    "location": {
                        "x": 2923.66455078125,
                        "y": 4258.0029296875,
                        "z": 360.69049072265625
                    },
                    "rotation": {
                        "roll": -0.00042724754894152284,
                        "pitch": 0.33329954743385315,
                        "yaw": 9.491199493408203
                    }
                },
                "velocity": {
                    "x": 7.010564804077148,
                    "y": 1.1622861623764038,
                    "z": 0.05107083171606064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.371318340301514,
                "transform": {
                    "location": {
                        "x": 2925.599609375,
                        "y": 4261.619140625,
                        "z": 360.7049255371094
                    },
                    "rotation": {
                        "roll": 0.004130064509809017,
                        "pitch": 0.34833961725234985,
                        "yaw": 9.432971954345703
                    }
                },
                "velocity": {
                    "x": 6.28504753112793,
                    "y": 1.0439600944519043,
                    "z": 0.04497353360056877
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.15005111694336,
                "transform": {
                    "location": {
                        "x": 3003.42333984375,
                        "y": 4264.15087890625,
                        "z": 361.3388977050781
                    },
                    "rotation": {
                        "roll": -0.0004882830544374883,
                        "pitch": -0.534639835357666,
                        "yaw": -170.79994201660156
                    }
                },
                "velocity": {
                    "x": -13.967503547668457,
                    "y": -2.261766195297241,
                    "z": -0.1311282217502594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.310928344726562,
                "transform": {
                    "location": {
                        "x": 2999.5625,
                        "y": 4266.81884765625,
                        "z": 361.3076171875
                    },
                    "rotation": {
                        "roll": 0.0013758564600721002,
                        "pitch": -0.5366479158401489,
                        "yaw": -170.80926513671875
                    }
                },
                "velocity": {
                    "x": -12.15257453918457,
                    "y": -1.9648879766464233,
                    "z": -0.11451327800750732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.333433151245117,
                "transform": {
                    "location": {
                        "x": 2966.592041015625,
                        "y": 4268.27099609375,
                        "z": 361.0162658691406
                    },
                    "rotation": {
                        "roll": -0.0011901825200766325,
                        "pitch": 0.48221132159233093,
                        "yaw": 9.197972297668457
                    }
                },
                "velocity": {
                    "x": 8.226061820983887,
                    "y": 1.3315290212631226,
                    "z": 0.07101108133792877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.103370666503906,
                "transform": {
                    "location": {
                        "x": 2966.967041015625,
                        "y": 4265.03857421875,
                        "z": 361.0262451171875
                    },
                    "rotation": {
                        "roll": 0.0004597647930495441,
                        "pitch": 0.5033302903175354,
                        "yaw": 9.213229179382324
                    }
                },
                "velocity": {
                    "x": 7.998531341552734,
                    "y": 1.2974587678909302,
                    "z": 0.06859731674194336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.225510597229004,
                "transform": {
                    "location": {
                        "x": 2980.265625,
                        "y": 4260.40380859375,
                        "z": 361.1194152832031
                    },
                    "rotation": {
                        "roll": -0.0006713863695040345,
                        "pitch": -0.5433005094528198,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -14.042022705078125,
                    "y": -2.2738568782806396,
                    "z": -0.12778307497501373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.886297225952148,
                "transform": {
                    "location": {
                        "x": 2973.310302734375,
                        "y": 4262.5703125,
                        "z": 361.0732421875
                    },
                    "rotation": {
                        "roll": 0.0010031881975010037,
                        "pitch": -0.47350284457206726,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -12.720673561096191,
                    "y": -2.0564005374908447,
                    "z": -0.11103307455778122
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077310562133789,
                "transform": {
                    "location": {
                        "x": 3010.2353515625,
                        "y": 4275.33251953125,
                        "z": 361.4201354980469
                    },
                    "rotation": {
                        "roll": 0.00014705238572787493,
                        "pitch": 0.5408006906509399,
                        "yaw": 9.19337272644043
                    }
                },
                "velocity": {
                    "x": 7.973198890686035,
                    "y": 1.2904424667358398,
                    "z": 0.07616724073886871
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033649444580078,
                "transform": {
                    "location": {
                        "x": 3010.56640625,
                        "y": 4272.091796875,
                        "z": 361.4241638183594
                    },
                    "rotation": {
                        "roll": -0.0002136198163498193,
                        "pitch": 0.5451241731643677,
                        "yaw": 9.198744773864746
                    }
                },
                "velocity": {
                    "x": 7.929835796356201,
                    "y": 1.2850922346115112,
                    "z": 0.07591170817613602
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2883.2890625,
                        "y": 4251.39697265625,
                        "z": 360.7877197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03196027874946594,
                "transform": {
                    "location": {
                        "x": 2899.072998046875,
                        "y": 4247.36669921875,
                        "z": 360.4849853515625
                    },
                    "rotation": {
                        "roll": -0.0012512211687862873,
                        "pitch": -0.3916020393371582,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": -0.00023929968301672488,
                    "y": 2.638085607031826e-05,
                    "z": 0.03195936977863312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945572853088379,
                "transform": {
                    "location": {
                        "x": 2943.72119140625,
                        "y": 4257.78369140625,
                        "z": 360.8299560546875
                    },
                    "rotation": {
                        "roll": 0.0006735195056535304,
                        "pitch": -0.4286831319332123,
                        "yaw": -170.81561279296875
                    }
                },
                "velocity": {
                    "x": -12.779111862182617,
                    "y": -2.0671348571777344,
                    "z": -0.09548079967498779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403388977050781,
                "transform": {
                    "location": {
                        "x": 2920.088623046875,
                        "y": 4253.9599609375,
                        "z": 360.6568908691406
                    },
                    "rotation": {
                        "roll": 0.0008794762543402612,
                        "pitch": -0.411525696516037,
                        "yaw": -170.79261779785156
                    }
                },
                "velocity": {
                    "x": -13.2306489944458,
                    "y": -2.142808675765991,
                    "z": -0.09556075185537338
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.046567946672439575,
        "expert_target_speed": 10.0,
        "target_point": [
            21.731731373283026,
            0.2077725683316225
        ],
        "target_point_next": [
            72.73071894954595,
            0.5381231875915056
        ]
    },
    "240": {
        "acceleration": [
            4.376964569091797,
            0.6835269927978516,
            0.04048600792884827
        ],
        "angular_velocity": [
            0.036641694605350494,
            -0.381538063287735,
            -0.018501780927181244
        ],
        "forward_vector": [
            -0.9880805015563965,
            -0.1532265543937683,
            -0.014784273691475391
        ],
        "right_vector": [
            0.15324589610099792,
            -0.9881880879402161,
            -0.00017742696218192577
        ],
        "location": [
            2958.6845703125,
            4257.10302734375,
            360.9412536621094
        ],
        "rotation": [
            0.010166927240788937,
            -0.8471073508262634,
            -171.18507385253906
        ],
        "velocity": [
            -12.919414520263672,
            -2.003596067428589,
            -0.10523547977209091
        ],
        "speed": 13.073854395235367,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.71214485168457,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2887.9931640625,
                        "y": 4255.4501953125,
                        "z": 360.5096740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.51458740234375,
                "transform": {
                    "location": {
                        "x": 2925.534423828125,
                        "y": 4258.3134765625,
                        "z": 360.704833984375
                    },
                    "rotation": {
                        "roll": -0.0007324199541471899,
                        "pitch": 0.2548343539237976,
                        "yaw": 9.428936958312988
                    }
                },
                "velocity": {
                    "x": 8.399840354919434,
                    "y": 1.3918029069900513,
                    "z": 0.06127051264047623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.183876991271973,
                "transform": {
                    "location": {
                        "x": 2927.358154296875,
                        "y": 4261.9091796875,
                        "z": 360.7178955078125
                    },
                    "rotation": {
                        "roll": 0.009029369801282883,
                        "pitch": 0.7031747698783875,
                        "yaw": 9.352815628051758
                    }
                },
                "velocity": {
                    "x": 8.075665473937988,
                    "y": 1.325114130973816,
                    "z": 0.05953769385814667
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.610822677612305,
                "transform": {
                    "location": {
                        "x": 2999.989501953125,
                        "y": 4263.5947265625,
                        "z": 361.30682373046875
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.5430614948272705,
                        "yaw": -170.80101013183594
                    }
                },
                "velocity": {
                    "x": -13.435260772705078,
                    "y": -2.1753897666931152,
                    "z": -0.12634988129138947
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.552818298339844,
                "transform": {
                    "location": {
                        "x": 2996.507080078125,
                        "y": 4266.32421875,
                        "z": 361.2789001464844
                    },
                    "rotation": {
                        "roll": 0.0006460935110226274,
                        "pitch": -0.5236159563064575,
                        "yaw": -170.80763244628906
                    }
                },
                "velocity": {
                    "x": -12.391066551208496,
                    "y": -2.005330801010132,
                    "z": -0.11569070816040039
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991850852966309,
                "transform": {
                    "location": {
                        "x": 2968.6015625,
                        "y": 4268.5966796875,
                        "z": 361.0338134765625
                    },
                    "rotation": {
                        "roll": -6.10369534115307e-05,
                        "pitch": 0.4801349639892578,
                        "yaw": 9.194893836975098
                    }
                },
                "velocity": {
                    "x": 7.888847351074219,
                    "y": 1.2771576642990112,
                    "z": 0.06808178126811981
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055274963378906,
                "transform": {
                    "location": {
                        "x": 2968.96142578125,
                        "y": 4265.3623046875,
                        "z": 361.0435791015625
                    },
                    "rotation": {
                        "roll": 0.0006869399221614003,
                        "pitch": 0.49560531973838806,
                        "yaw": 9.21119213104248
                    }
                },
                "velocity": {
                    "x": 7.951301097869873,
                    "y": 1.2882696390151978,
                    "z": 0.06801233440637589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.330827713012695,
                "transform": {
                    "location": {
                        "x": 2976.865478515625,
                        "y": 4259.853515625,
                        "z": 361.08892822265625
                    },
                    "rotation": {
                        "roll": -0.0018920821603387594,
                        "pitch": -0.5585933327674866,
                        "yaw": -170.80331420898438
                    }
                },
                "velocity": {
                    "x": -13.158994674682617,
                    "y": -2.130232334136963,
                    "z": -0.11811258643865585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.947344779968262,
                "transform": {
                    "location": {
                        "x": 2970.142333984375,
                        "y": 4262.05810546875,
                        "z": 361.04547119140625
                    },
                    "rotation": {
                        "roll": 0.0001747027417877689,
                        "pitch": -0.474759578704834,
                        "yaw": -170.8148193359375
                    }
                },
                "velocity": {
                    "x": -12.78069019317627,
                    "y": -2.0676822662353516,
                    "z": -0.11126014590263367
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043577194213867,
                "transform": {
                    "location": {
                        "x": 3012.224365234375,
                        "y": 4275.65380859375,
                        "z": 361.4391174316406
                    },
                    "rotation": {
                        "roll": 0.0005627189530059695,
                        "pitch": 0.544741690158844,
                        "yaw": 9.190645217895508
                    }
                },
                "velocity": {
                    "x": 7.9399542808532715,
                    "y": 1.284703016281128,
                    "z": 0.07616039365530014
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038209915161133,
                "transform": {
                    "location": {
                        "x": 3012.549560546875,
                        "y": 4272.4130859375,
                        "z": 361.4431457519531
                    },
                    "rotation": {
                        "roll": -6.104094791226089e-05,
                        "pitch": 0.5498301982879639,
                        "yaw": 9.203719139099121
                    }
                },
                "velocity": {
                    "x": 7.934347152709961,
                    "y": 1.285780906677246,
                    "z": 0.07566671073436737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2884.52783203125,
                        "y": 4251.59716796875,
                        "z": 360.5711669921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.027154847979545593,
                "transform": {
                    "location": {
                        "x": 2899.072998046875,
                        "y": 4247.36669921875,
                        "z": 360.4959411621094
                    },
                    "rotation": {
                        "roll": -0.00024414490326307714,
                        "pitch": -0.3912673592567444,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.00020797095203306526,
                    "y": 1.8468657799530774e-05,
                    "z": 0.027154045179486275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945318222045898,
                "transform": {
                    "location": {
                        "x": 2940.526123046875,
                        "y": 4257.265625,
                        "z": 360.8059997558594
                    },
                    "rotation": {
                        "roll": -0.00051879818784073,
                        "pitch": -0.4210811257362366,
                        "yaw": -170.79733276367188
                    }
                },
                "velocity": {
                    "x": -12.778581619262695,
                    "y": -2.06881046295166,
                    "z": -0.09554314613342285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403353691101074,
                "transform": {
                    "location": {
                        "x": 2916.78076171875,
                        "y": 4253.42431640625,
                        "z": 360.6330261230469
                    },
                    "rotation": {
                        "roll": 0.00012374027573969215,
                        "pitch": -0.4082881808280945,
                        "yaw": -170.79757690429688
                    }
                },
                "velocity": {
                    "x": -13.230413436889648,
                    "y": -2.144040822982788,
                    "z": -0.09563568234443665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0602218359708786,
        "expert_target_speed": 10.0,
        "target_point": [
            18.3356290149703,
            0.20976190049397792
        ],
        "target_point_next": [
            69.33458485462661,
            0.5449761607056463
        ]
    },
    "245": {
        "acceleration": [
            3.3664894104003906,
            0.4815673828125,
            0.044502317905426025
        ],
        "angular_velocity": [
            -0.02499419078230858,
            0.07966990768909454,
            0.24783478677272797
        ],
        "forward_vector": [
            -0.9880083799362183,
            -0.1536295861005783,
            -0.01540897786617279
        ],
        "right_vector": [
            0.15364766120910645,
            -0.9881256818771362,
            1.1183786227775272e-05
        ],
        "location": [
            2955.586181640625,
            4256.62158203125,
            360.9163513183594
        ],
        "rotation": [
            -0.0006408598273992538,
            -0.8829043507575989,
            -171.16162109375
        ],
        "velocity": [
            -11.95389175415039,
            -1.8610405921936035,
            -0.09543304890394211
        ],
        "speed": 12.09789238486345,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.58025360107422,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.977033615112305,
                "transform": {
                    "location": {
                        "x": 2890.000244140625,
                        "y": 4255.78564453125,
                        "z": 360.4704284667969
                    },
                    "rotation": {
                        "roll": -0.0259399376809597,
                        "pitch": 0.36317479610443115,
                        "yaw": 9.594128608703613
                    }
                },
                "velocity": {
                    "x": 7.861536502838135,
                    "y": 1.3502068519592285,
                    "z": -0.07907655835151672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.299445152282715,
                "transform": {
                    "location": {
                        "x": 2927.6416015625,
                        "y": 4258.6611328125,
                        "z": 360.7191467285156
                    },
                    "rotation": {
                        "roll": -0.0028991729486733675,
                        "pitch": 0.4014989733695984,
                        "yaw": 9.356812477111816
                    }
                },
                "velocity": {
                    "x": 8.190077781677246,
                    "y": 1.3415741920471191,
                    "z": 0.05985000357031822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.227681159973145,
                "transform": {
                    "location": {
                        "x": 2929.439208984375,
                        "y": 4262.25,
                        "z": 360.733154296875
                    },
                    "rotation": {
                        "roll": 0.005114886909723282,
                        "pitch": 0.5015066266059875,
                        "yaw": 9.303255081176758
                    }
                },
                "velocity": {
                    "x": 8.119531631469727,
                    "y": 1.328271508216858,
                    "z": 0.06028122827410698
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.73232364654541,
                "transform": {
                    "location": {
                        "x": 2996.739990234375,
                        "y": 4263.06884765625,
                        "z": 361.2765808105469
                    },
                    "rotation": {
                        "roll": 0.0011013562325388193,
                        "pitch": -0.5553216934204102,
                        "yaw": -170.81002807617188
                    }
                },
                "velocity": {
                    "x": -12.568267822265625,
                    "y": -2.033989906311035,
                    "z": -0.11667735129594803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.675661087036133,
                "transform": {
                    "location": {
                        "x": 2993.3759765625,
                        "y": 4265.81787109375,
                        "z": 361.2497253417969
                    },
                    "rotation": {
                        "roll": -9.155435691354796e-05,
                        "pitch": -0.5226119160652161,
                        "yaw": -170.79693603515625
                    }
                },
                "velocity": {
                    "x": -12.512224197387695,
                    "y": -2.0256688594818115,
                    "z": -0.1152520626783371
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.940342903137207,
                "transform": {
                    "location": {
                        "x": 2970.56201171875,
                        "y": 4268.9140625,
                        "z": 361.05078125
                    },
                    "rotation": {
                        "roll": -0.0006713843904435635,
                        "pitch": 0.4928322732448578,
                        "yaw": 9.194375991821289
                    }
                },
                "velocity": {
                    "x": 7.8380255699157715,
                    "y": 1.2687448263168335,
                    "z": 0.06843894720077515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072006225585938,
                "transform": {
                    "location": {
                        "x": 2970.950439453125,
                        "y": 4265.68408203125,
                        "z": 361.0608825683594
                    },
                    "rotation": {
                        "roll": 0.0013274543453007936,
                        "pitch": 0.4964454472064972,
                        "yaw": 9.199847221374512
                    }
                },
                "velocity": {
                    "x": 7.968043804168701,
                    "y": 1.2895158529281616,
                    "z": 0.06861942261457443
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.320850372314453,
                "transform": {
                    "location": {
                        "x": 2973.706298828125,
                        "y": 4259.34228515625,
                        "z": 361.0610046386719
                    },
                    "rotation": {
                        "roll": 0.0006768014864064753,
                        "pitch": -0.5614619851112366,
                        "yaw": -170.80526733398438
                    }
                },
                "velocity": {
                    "x": -12.16254997253418,
                    "y": -1.965761423110962,
                    "z": -0.10723966360092163
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.699455261230469,
                "transform": {
                    "location": {
                        "x": 2966.96435546875,
                        "y": 4261.5439453125,
                        "z": 361.0180358886719
                    },
                    "rotation": {
                        "roll": 8.654149132780731e-05,
                        "pitch": -0.517912745475769,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -12.53591251373291,
                    "y": -2.0287024974823,
                    "z": -0.1068812757730484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077632904052734,
                "transform": {
                    "location": {
                        "x": 3014.213623046875,
                        "y": 4275.97607421875,
                        "z": 361.4582824707031
                    },
                    "rotation": {
                        "roll": 0.0003030499501619488,
                        "pitch": 0.5443660616874695,
                        "yaw": 9.193909645080566
                    }
                },
                "velocity": {
                    "x": 7.973488807678223,
                    "y": 1.2906625270843506,
                    "z": 0.07624830305576324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032914161682129,
                "transform": {
                    "location": {
                        "x": 3014.532470703125,
                        "y": 4272.73388671875,
                        "z": 361.46221923828125
                    },
                    "rotation": {
                        "roll": 0.0003793830401264131,
                        "pitch": 0.5489081144332886,
                        "yaw": 9.20097541809082
                    }
                },
                "velocity": {
                    "x": 7.929195880889893,
                    "y": 1.2844103574752808,
                    "z": 0.07643362134695053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2886.57958984375,
                        "y": 4251.92919921875,
                        "z": 360.44586181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.90751051902771,
                "transform": {
                    "location": {
                        "x": 2899.03369140625,
                        "y": 4247.35986328125,
                        "z": 360.4981689453125
                    },
                    "rotation": {
                        "roll": 0.00042560198926366866,
                        "pitch": -0.3771015405654907,
                        "yaw": -170.7825927734375
                    }
                },
                "velocity": {
                    "x": -0.8938122987747192,
                    "y": -0.15699557960033417,
                    "z": -0.005223340820521116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945305824279785,
                "transform": {
                    "location": {
                        "x": 2937.33154296875,
                        "y": 4256.74853515625,
                        "z": 360.7822265625
                    },
                    "rotation": {
                        "roll": 0.0004382479237392545,
                        "pitch": -0.4229116439819336,
                        "yaw": -170.81507873535156
                    }
                },
                "velocity": {
                    "x": -12.778892517089844,
                    "y": -2.0668039321899414,
                    "z": -0.09579981863498688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.40330982208252,
                "transform": {
                    "location": {
                        "x": 2913.473388671875,
                        "y": 4252.88916015625,
                        "z": 360.60931396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4051463007926941,
                        "yaw": -170.79080200195312
                    }
                },
                "velocity": {
                    "x": -13.230341911315918,
                    "y": -2.1442155838012695,
                    "z": -0.09542196989059448
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07292408496141434,
        "expert_target_speed": 10.0,
        "target_point": [
            15.200142978825173,
            0.20258331012234354
        ],
        "target_point_next": [
            66.19923184511656,
            0.5169082114255055
        ]
    },
    "250": {
        "acceleration": [
            2.6482582092285156,
            0.8994150161743164,
            0.032817572355270386
        ],
        "angular_velocity": [
            0.41728124022483826,
            0.36081603169441223,
            -3.4447433948516846
        ],
        "forward_vector": [
            -0.9884102940559387,
            -0.15114052593708038,
            -0.014198421500623226
        ],
        "right_vector": [
            0.1511685848236084,
            -0.9885075688362122,
            -0.0009177757310681045
        ],
        "location": [
            2952.69140625,
            4256.1748046875,
            360.8932189941406
        ],
        "rotation": [
            0.052589982748031616,
            -0.8135369420051575,
            -171.30609130859375
        ],
        "velocity": [
            -11.24285888671875,
            -1.6922227144241333,
            -0.08907119184732437
        ],
        "speed": 11.369498390953039,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.65585708618164,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.14604377746582,
                "transform": {
                    "location": {
                        "x": 2891.987060546875,
                        "y": 4256.13037109375,
                        "z": 360.4679870605469
                    },
                    "rotation": {
                        "roll": -0.0026245093904435635,
                        "pitch": 0.385605126619339,
                        "yaw": 9.8419189453125
                    }
                },
                "velocity": {
                    "x": 8.027935028076172,
                    "y": 1.381819486618042,
                    "z": 0.029444187879562378
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.789376258850098,
                "transform": {
                    "location": {
                        "x": 2929.610595703125,
                        "y": 4258.98388671875,
                        "z": 360.7332763671875
                    },
                    "rotation": {
                        "roll": -0.0008239710005000234,
                        "pitch": 0.4561268389225006,
                        "yaw": 9.309033393859863
                    }
                },
                "velocity": {
                    "x": 7.686898231506348,
                    "y": 1.2580668926239014,
                    "z": 0.05694853514432907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.780470371246338,
                "transform": {
                    "location": {
                        "x": 2931.39111328125,
                        "y": 4262.56884765625,
                        "z": 360.7476501464844
                    },
                    "rotation": {
                        "roll": 0.0050283330492675304,
                        "pitch": 0.36998450756073,
                        "yaw": 9.274417877197266
                    }
                },
                "velocity": {
                    "x": 7.678900718688965,
                    "y": 1.2518103122711182,
                    "z": 0.05637441575527191
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.803176879882812,
                "transform": {
                    "location": {
                        "x": 2993.718994140625,
                        "y": 4262.580078125,
                        "z": 361.2485046386719
                    },
                    "rotation": {
                        "roll": -3.0517192499246448e-05,
                        "pitch": -0.5595085620880127,
                        "yaw": -170.80657958984375
                    }
                },
                "velocity": {
                    "x": -11.651209831237793,
                    "y": -1.8847625255584717,
                    "z": -0.10946408659219742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.358500480651855,
                "transform": {
                    "location": {
                        "x": 2990.29052734375,
                        "y": 4265.31787109375,
                        "z": 361.22113037109375
                    },
                    "rotation": {
                        "roll": 0.0004686689062509686,
                        "pitch": -0.5371124148368835,
                        "yaw": -170.80743408203125
                    }
                },
                "velocity": {
                    "x": -12.199135780334473,
                    "y": -1.9749529361724854,
                    "z": -0.11483635753393173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.976320743560791,
                "transform": {
                    "location": {
                        "x": 2972.525634765625,
                        "y": 4269.23193359375,
                        "z": 361.0679931640625
                    },
                    "rotation": {
                        "roll": -0.0003662127710413188,
                        "pitch": 0.5000039935112,
                        "yaw": 9.194153785705566
                    }
                },
                "velocity": {
                    "x": 7.8735480308532715,
                    "y": 1.274435043334961,
                    "z": 0.06888242810964584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054461479187012,
                "transform": {
                    "location": {
                        "x": 2972.940185546875,
                        "y": 4266.00634765625,
                        "z": 361.0782775878906
                    },
                    "rotation": {
                        "roll": 0.0004774314002133906,
                        "pitch": 0.5049763321876526,
                        "yaw": 9.193586349487305
                    }
                },
                "velocity": {
                    "x": 7.950724124908447,
                    "y": 1.2866690158843994,
                    "z": 0.06937555223703384
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.474549293518066,
                "transform": {
                    "location": {
                        "x": 2970.778564453125,
                        "y": 4258.86865234375,
                        "z": 361.0352783203125
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.553279459476471,
                        "yaw": -170.82530212402344
                    }
                },
                "velocity": {
                    "x": -11.327009201049805,
                    "y": -1.8315023183822632,
                    "z": -0.09874395281076431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.846037864685059,
                "transform": {
                    "location": {
                        "x": 2963.810302734375,
                        "y": 4261.03369140625,
                        "z": 360.99139404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4631960690021515,
                        "yaw": -170.81105041503906
                    }
                },
                "velocity": {
                    "x": -12.680737495422363,
                    "y": -2.0513899326324463,
                    "z": -0.10665782541036606
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.875190734863281,
                "transform": {
                    "location": {
                        "x": 3016.189697265625,
                        "y": 4276.29541015625,
                        "z": 361.4772033691406
                    },
                    "rotation": {
                        "roll": 0.0003969623940065503,
                        "pitch": 0.5411080718040466,
                        "yaw": 9.195528030395508
                    }
                },
                "velocity": {
                    "x": 7.773510456085205,
                    "y": 1.2591133117675781,
                    "z": 0.07616176456212997
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.901477336883545,
                "transform": {
                    "location": {
                        "x": 3016.505859375,
                        "y": 4273.05322265625,
                        "z": 361.4811096191406
                    },
                    "rotation": {
                        "roll": -0.0007324220496229827,
                        "pitch": 0.527959942817688,
                        "yaw": 9.203619956970215
                    }
                },
                "velocity": {
                    "x": 7.799412250518799,
                    "y": 1.2636371850967407,
                    "z": 0.07574598491191864
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.265562534332275,
                "transform": {
                    "location": {
                        "x": 2888.147216796875,
                        "y": 4252.1923828125,
                        "z": 360.45135498046875
                    },
                    "rotation": {
                        "roll": -0.009307858534157276,
                        "pitch": 0.2678321897983551,
                        "yaw": 9.500716209411621
                    }
                },
                "velocity": {
                    "x": 6.172712802886963,
                    "y": 1.0628823041915894,
                    "z": 0.1586548238992691
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3200113773345947,
                "transform": {
                    "location": {
                        "x": 2898.5947265625,
                        "y": 4247.2841796875,
                        "z": 360.4948425292969
                    },
                    "rotation": {
                        "roll": -0.002502440707758069,
                        "pitch": -0.35726669430732727,
                        "yaw": -170.59075927734375
                    }
                },
                "velocity": {
                    "x": -2.284796714782715,
                    "y": -0.40235698223114014,
                    "z": -0.016315573826432228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945271492004395,
                "transform": {
                    "location": {
                        "x": 2934.13671875,
                        "y": 4256.23095703125,
                        "z": 360.7583923339844
                    },
                    "rotation": {
                        "roll": 0.00012447421613615006,
                        "pitch": -0.4212382435798645,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": -12.778900146484375,
                    "y": -2.0665266513824463,
                    "z": -0.09596749395132065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.40325927734375,
                "transform": {
                    "location": {
                        "x": 2910.16552734375,
                        "y": 4252.35400390625,
                        "z": 360.5857238769531
                    },
                    "rotation": {
                        "roll": 0.0020176239777356386,
                        "pitch": -0.4039919972419739,
                        "yaw": -170.79884338378906
                    }
                },
                "velocity": {
                    "x": -13.230517387390137,
                    "y": -2.1428170204162598,
                    "z": -0.09549935162067413
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09746410697698593,
        "expert_target_speed": 10.0,
        "target_point": [
            12.27053657406954,
            0.23682773050449035
        ],
        "target_point_next": [
            63.26867073931094,
            0.6797464583791655
        ]
    },
    "255": {
        "acceleration": [
            10.276985168457031,
            2.6651477813720703,
            0.07617875933647156
        ],
        "angular_velocity": [
            1.0664795637130737,
            -1.7552123069763184,
            -6.120853900909424
        ],
        "forward_vector": [
            -0.9909612536430359,
            -0.1334599107503891,
            -0.013576923869550228
        ],
        "right_vector": [
            0.1335272192955017,
            -0.9910363554954529,
            -0.0041748154908418655
        ],
        "location": [
            2949.94775390625,
            4255.78662109375,
            360.8717346191406
        ],
        "rotation": [
            0.23922204971313477,
            -0.7779243588447571,
            -172.3297119140625
        ],
        "velocity": [
            -10.397449493408203,
            -1.3328754901885986,
            -0.08064457029104233
        ],
        "speed": 10.48253371281581,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.893413543701172,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.916113376617432,
                "transform": {
                    "location": {
                        "x": 2893.96484375,
                        "y": 4256.46875,
                        "z": 360.4787902832031
                    },
                    "rotation": {
                        "roll": 0.008260481059551239,
                        "pitch": 0.38353559374809265,
                        "yaw": 9.68873405456543
                    }
                },
                "velocity": {
                    "x": 7.803590297698975,
                    "y": 1.3290622234344482,
                    "z": 0.04923105984926224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.106402397155762,
                "transform": {
                    "location": {
                        "x": 2931.5673828125,
                        "y": 4259.30419921875,
                        "z": 360.7481994628906
                    },
                    "rotation": {
                        "roll": 1.5641786376363598e-05,
                        "pitch": 0.40321335196495056,
                        "yaw": 9.290552139282227
                    }
                },
                "velocity": {
                    "x": 8.000786781311035,
                    "y": 1.3029654026031494,
                    "z": 0.058747854083776474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.193305969238281,
                "transform": {
                    "location": {
                        "x": 2933.364990234375,
                        "y": 4262.89013671875,
                        "z": 360.7623291015625
                    },
                    "rotation": {
                        "roll": 0.0025680128019303083,
                        "pitch": 0.476118803024292,
                        "yaw": 9.244964599609375
                    }
                },
                "velocity": {
                    "x": 8.08668327331543,
                    "y": 1.3161373138427734,
                    "z": 0.060021188110113144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.123005867004395,
                "transform": {
                    "location": {
                        "x": 2990.906494140625,
                        "y": 4262.125,
                        "z": 361.2221374511719
                    },
                    "rotation": {
                        "roll": 6.15279350313358e-05,
                        "pitch": -0.5535321831703186,
                        "yaw": -170.8177032470703
                    }
                },
                "velocity": {
                    "x": -10.979798316955566,
                    "y": -1.776113510131836,
                    "z": -0.10354624688625336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.517168045043945,
                "transform": {
                    "location": {
                        "x": 2987.23583984375,
                        "y": 4264.82373046875,
                        "z": 361.1924133300781
                    },
                    "rotation": {
                        "roll": 0.0002983864687848836,
                        "pitch": -0.5267031788825989,
                        "yaw": -170.80384826660156
                    }
                },
                "velocity": {
                    "x": -12.355843544006348,
                    "y": -1.99980628490448,
                    "z": -0.11575884371995926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.038371086120605,
                "transform": {
                    "location": {
                        "x": 2974.503662109375,
                        "y": 4269.55224609375,
                        "z": 361.08551025390625
                    },
                    "rotation": {
                        "roll": 0.00026843236992135644,
                        "pitch": 0.5099555850028992,
                        "yaw": 9.193035125732422
                    }
                },
                "velocity": {
                    "x": 7.934934139251709,
                    "y": 1.2834631204605103,
                    "z": 0.07031658291816711
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084776878356934,
                "transform": {
                    "location": {
                        "x": 2974.932373046875,
                        "y": 4266.3291015625,
                        "z": 361.0958251953125
                    },
                    "rotation": {
                        "roll": 0.00048382559907622635,
                        "pitch": 0.5136916637420654,
                        "yaw": 9.1863431930542
                    }
                },
                "velocity": {
                    "x": 7.980770587921143,
                    "y": 1.2906063795089722,
                    "z": 0.07246902585029602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.840603828430176,
                "transform": {
                    "location": {
                        "x": 2968.03466796875,
                        "y": 4258.4248046875,
                        "z": 361.0115051269531
                    },
                    "rotation": {
                        "roll": 0.0006526443175971508,
                        "pitch": -0.5286498069763184,
                        "yaw": -170.79788208007812
                    }
                },
                "velocity": {
                    "x": -10.701051712036133,
                    "y": -1.7314183712005615,
                    "z": -0.09158632159233093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.76137638092041,
                "transform": {
                    "location": {
                        "x": 2960.669921875,
                        "y": 4260.525390625,
                        "z": 360.96514892578125
                    },
                    "rotation": {
                        "roll": -0.001892088446766138,
                        "pitch": -0.4783932566642761,
                        "yaw": -170.7989044189453
                    }
                },
                "velocity": {
                    "x": -12.596832275390625,
                    "y": -2.040029287338257,
                    "z": -0.10412536561489105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3018.1025390625,
                        "y": 4276.578125,
                        "z": 361.4971923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.509593963623047,
                "transform": {
                    "location": {
                        "x": 3018.404052734375,
                        "y": 4273.361328125,
                        "z": 361.49945068359375
                    },
                    "rotation": {
                        "roll": 2.191208113799803e-05,
                        "pitch": 0.4841306209564209,
                        "yaw": 9.20723819732666
                    }
                },
                "velocity": {
                    "x": 7.412516117095947,
                    "y": 1.201446533203125,
                    "z": 0.07166644930839539
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.016648292541504,
                "transform": {
                    "location": {
                        "x": 2889.659423828125,
                        "y": 4252.451171875,
                        "z": 360.47662353515625
                    },
                    "rotation": {
                        "roll": -0.0006408664048649371,
                        "pitch": 0.35956162214279175,
                        "yaw": 9.708464622497559
                    }
                },
                "velocity": {
                    "x": 5.9280595779418945,
                    "y": 1.0264253616333008,
                    "z": 0.06790847331285477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.162713050842285,
                "transform": {
                    "location": {
                        "x": 2897.9130859375,
                        "y": 4247.16552734375,
                        "z": 360.49017333984375
                    },
                    "rotation": {
                        "roll": -0.0033264143858104944,
                        "pitch": -0.36965665221214294,
                        "yaw": -170.38929748535156
                    }
                },
                "velocity": {
                    "x": -3.114311456680298,
                    "y": -0.5507628917694092,
                    "z": -0.02187989093363285
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.5317077636719
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945140838623047,
                "transform": {
                    "location": {
                        "x": 2930.942138671875,
                        "y": 4255.71435546875,
                        "z": 360.7347106933594
                    },
                    "rotation": {
                        "roll": -0.0002441424585413188,
                        "pitch": -0.42019322514533997,
                        "yaw": -170.82444763183594
                    }
                },
                "velocity": {
                    "x": -12.778931617736816,
                    "y": -2.0655300617218018,
                    "z": -0.09565532207489014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403196334838867,
                "transform": {
                    "location": {
                        "x": 2906.858154296875,
                        "y": 4251.81884765625,
                        "z": 360.562255859375
                    },
                    "rotation": {
                        "roll": 0.0009160546469502151,
                        "pitch": -0.39953190088272095,
                        "yaw": -170.79620361328125
                    }
                },
                "velocity": {
                    "x": -13.230422019958496,
                    "y": -2.1430740356445312,
                    "z": -0.09399799257516861
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1929149329662323,
        "expert_target_speed": 10.0,
        "target_point": [
            9.493432323161972,
            0.43748553462443485
        ],
        "target_point_next": [
            60.475515900671546,
            1.7913760144244293
        ]
    },
    "260": {
        "acceleration": [
            4.3163299560546875,
            1.7753982543945312,
            0.033577531576156616
        ],
        "angular_velocity": [
            0.30527910590171814,
            0.2012702375650406,
            -10.299178123474121
        ],
        "forward_vector": [
            -0.9947745203971863,
            -0.10055743902921677,
            -0.01765790954232216
        ],
        "right_vector": [
            0.10070247203111649,
            -0.9948881268501282,
            -0.007523642852902412
        ],
        "location": [
            2947.569580078125,
            4255.5224609375,
            360.8546142578125
        ],
        "rotation": [
            0.4311442971229553,
            -1.011776328086853,
            -174.2278289794922
        ],
        "velocity": [
            -8.914512634277344,
            -0.7991063594818115,
            -0.06790467351675034
        ],
        "speed": 8.950257341577094,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.518689155578613,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081571578979492,
                "transform": {
                    "location": {
                        "x": 2895.9375,
                        "y": 4256.8037109375,
                        "z": 360.4919128417969
                    },
                    "rotation": {
                        "roll": 0.005202462896704674,
                        "pitch": 0.39192989468574524,
                        "yaw": 9.623038291931152
                    }
                },
                "velocity": {
                    "x": 7.967928409576416,
                    "y": 1.3494362831115723,
                    "z": 0.05429432913661003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03111743927002,
                "transform": {
                    "location": {
                        "x": 2933.566162109375,
                        "y": 4259.62939453125,
                        "z": 360.7629089355469
                    },
                    "rotation": {
                        "roll": 0.00031194239272736013,
                        "pitch": 0.41529595851898193,
                        "yaw": 9.257163047790527
                    }
                },
                "velocity": {
                    "x": 7.926564693450928,
                    "y": 1.2902921438217163,
                    "z": 0.05971832200884819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.01282787322998,
                "transform": {
                    "location": {
                        "x": 2935.372802734375,
                        "y": 4263.216796875,
                        "z": 360.7772216796875
                    },
                    "rotation": {
                        "roll": 0.0021236396860331297,
                        "pitch": 0.4111500382423401,
                        "yaw": 9.233556747436523
                    }
                },
                "velocity": {
                    "x": 7.908788681030273,
                    "y": 1.2856265306472778,
                    "z": 0.0602840892970562
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.325966835021973,
                "transform": {
                    "location": {
                        "x": 2988.243896484375,
                        "y": 4261.6943359375,
                        "z": 361.19720458984375
                    },
                    "rotation": {
                        "roll": 0.0007334123365581036,
                        "pitch": -0.5529789328575134,
                        "yaw": -170.7996826171875
                    }
                },
                "velocity": {
                    "x": -10.192946434020996,
                    "y": -1.6493465900421143,
                    "z": -0.09535031020641327
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.628332138061523,
                "transform": {
                    "location": {
                        "x": 2984.11669921875,
                        "y": 4264.31884765625,
                        "z": 361.16339111328125
                    },
                    "rotation": {
                        "roll": -0.0009155264706350863,
                        "pitch": -0.5202896595001221,
                        "yaw": -170.81637573242188
                    }
                },
                "velocity": {
                    "x": -12.465883255004883,
                    "y": -2.0157525539398193,
                    "z": -0.1151619628071785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989321231842041,
                "transform": {
                    "location": {
                        "x": 2976.4814453125,
                        "y": 4269.87158203125,
                        "z": 361.1032409667969
                    },
                    "rotation": {
                        "roll": -0.0006713861366733909,
                        "pitch": 0.5099965333938599,
                        "yaw": 9.18478775024414
                    }
                },
                "velocity": {
                    "x": 7.8865838050842285,
                    "y": 1.2751414775848389,
                    "z": 0.07117963582277298
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049558639526367,
                "transform": {
                    "location": {
                        "x": 2976.923095703125,
                        "y": 4266.650390625,
                        "z": 361.11383056640625
                    },
                    "rotation": {
                        "roll": -0.00024413906794507056,
                        "pitch": 0.5142859220504761,
                        "yaw": 9.180991172790527
                    }
                },
                "velocity": {
                    "x": 7.946110248565674,
                    "y": 1.2843409776687622,
                    "z": 0.07201991975307465
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.616668701171875,
                "transform": {
                    "location": {
                        "x": 2965.4970703125,
                        "y": 4258.013671875,
                        "z": 360.9901123046875
                    },
                    "rotation": {
                        "roll": -0.00045776416664011776,
                        "pitch": -0.5549323558807373,
                        "yaw": -170.8158721923828
                    }
                },
                "velocity": {
                    "x": -9.492683410644531,
                    "y": -1.5370935201644897,
                    "z": -0.08140259236097336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.739121437072754,
                "transform": {
                    "location": {
                        "x": 2957.498291015625,
                        "y": 4260.01220703125,
                        "z": 360.9392395019531
                    },
                    "rotation": {
                        "roll": 0.0004295758262742311,
                        "pitch": -0.4678952395915985,
                        "yaw": -170.80213928222656
                    }
                },
                "velocity": {
                    "x": -12.574908256530762,
                    "y": -2.0362749099731445,
                    "z": -0.10244020819664001
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3019.990966796875,
                        "y": 4276.82763671875,
                        "z": 361.5183410644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3020.302978515625,
                        "y": 4273.57666015625,
                        "z": 361.5171813964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.285669803619385,
                "transform": {
                    "location": {
                        "x": 2891.099365234375,
                        "y": 4252.69970703125,
                        "z": 360.4901428222656
                    },
                    "rotation": {
                        "roll": 0.002702135592699051,
                        "pitch": 0.30750876665115356,
                        "yaw": 9.800708770751953
                    }
                },
                "velocity": {
                    "x": 5.207574367523193,
                    "y": 0.9043437838554382,
                    "z": 0.04045465216040611
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9281201362609863,
                "transform": {
                    "location": {
                        "x": 2897.03564453125,
                        "y": 4247.01220703125,
                        "z": 360.4840087890625
                    },
                    "rotation": {
                        "roll": -0.0033569324295967817,
                        "pitch": -0.37320151925086975,
                        "yaw": -170.23338317871094
                    }
                },
                "velocity": {
                    "x": -3.871401309967041,
                    "y": -0.6645999550819397,
                    "z": -0.026184048503637314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2879.633056640625,
                        "y": 4244.22119140625,
                        "z": 360.4778137207031
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.945018768310547,
                "transform": {
                    "location": {
                        "x": 2927.747314453125,
                        "y": 4255.197265625,
                        "z": 360.71112060546875
                    },
                    "rotation": {
                        "roll": -0.0015563970664516091,
                        "pitch": -0.4166278541088104,
                        "yaw": -170.80447387695312
                    }
                },
                "velocity": {
                    "x": -12.778566360473633,
                    "y": -2.067032814025879,
                    "z": -0.09552443027496338
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.403133392333984,
                "transform": {
                    "location": {
                        "x": 2903.55029296875,
                        "y": 4251.28369140625,
                        "z": 360.53900146484375
                    },
                    "rotation": {
                        "roll": 0.0006496172281913459,
                        "pitch": -0.3971549868583679,
                        "yaw": -170.80699157714844
                    }
                },
                "velocity": {
                    "x": -13.230535507202148,
                    "y": -2.142069101333618,
                    "z": -0.09203829616308212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3907191753387451,
        "expert_target_speed": 0,
        "target_point": [
            57.99031431258983,
            3.7698634182717408
        ],
        "target_point_next": [
            99.9155314010276,
            6.275005584194156
        ]
    },
    "265": {
        "acceleration": [
            3.365507125854492,
            1.2198972702026367,
            0.01864604651927948
        ],
        "angular_velocity": [
            0.01524303387850523,
            0.37342503666877747,
            -4.091160297393799
        ],
        "forward_vector": [
            -0.9975031018257141,
            -0.06877171248197556,
            -0.016062522307038307
        ],
        "right_vector": [
            0.06890218704938889,
            -0.9975935816764832,
            -0.007715344429016113
        ],
        "location": [
            2945.465576171875,
            4255.36279296875,
            360.8384704589844
        ],
        "rotation": [
            0.4421180784702301,
            -0.9203543066978455,
            -176.05604553222656
        ],
        "velocity": [
            -7.990192890167236,
            -0.4529072046279907,
            -0.059831295162439346
        ],
        "speed": 8.003018640368332,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.442594528198242,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.660749912261963,
                "transform": {
                    "location": {
                        "x": 2897.810791015625,
                        "y": 4257.11669921875,
                        "z": 360.5046081542969
                    },
                    "rotation": {
                        "roll": 0.010507872328162193,
                        "pitch": 0.21322482824325562,
                        "yaw": 9.468152046203613
                    }
                },
                "velocity": {
                    "x": 6.57049036026001,
                    "y": 1.0918538570404053,
                    "z": 0.045819539576768875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017733573913574,
                "transform": {
                    "location": {
                        "x": 2935.541748046875,
                        "y": 4259.951171875,
                        "z": 360.7775573730469
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": 0.4260125458240509,
                        "yaw": 9.245285987854004
                    }
                },
                "velocity": {
                    "x": 7.9137725830078125,
                    "y": 1.2855229377746582,
                    "z": 0.06078297644853592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9854631423950195,
                "transform": {
                    "location": {
                        "x": 2937.3359375,
                        "y": 4263.53564453125,
                        "z": 360.7919006347656
                    },
                    "rotation": {
                        "roll": 0.002345228334888816,
                        "pitch": 0.41785728931427,
                        "yaw": 9.218008041381836
                    }
                },
                "velocity": {
                    "x": 7.882287502288818,
                    "y": 1.2781366109848022,
                    "z": 0.0594416968524456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.348651885986328,
                "transform": {
                    "location": {
                        "x": 2985.828369140625,
                        "y": 4261.3037109375,
                        "z": 361.1748046875
                    },
                    "rotation": {
                        "roll": 0.0006331865442916751,
                        "pitch": -0.5583201050758362,
                        "yaw": -170.78639221191406
                    }
                },
                "velocity": {
                    "x": -9.228169441223145,
                    "y": -1.4935775995254517,
                    "z": -0.08603795617818832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.348719596862793,
                "transform": {
                    "location": {
                        "x": 2981.0361328125,
                        "y": 4263.82080078125,
                        "z": 361.1350402832031
                    },
                    "rotation": {
                        "roll": -0.00036621111212298274,
                        "pitch": -0.5291483998298645,
                        "yaw": -170.8130340576172
                    }
                },
                "velocity": {
                    "x": -12.189871788024902,
                    "y": -1.9710355997085571,
                    "z": -0.11370234191417694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.010758399963379,
                "transform": {
                    "location": {
                        "x": 2978.45556640625,
                        "y": 4270.19091796875,
                        "z": 361.1212463378906
                    },
                    "rotation": {
                        "roll": 6.483272591140121e-05,
                        "pitch": 0.5156245827674866,
                        "yaw": 9.183303833007812
                    }
                },
                "velocity": {
                    "x": 7.907830715179443,
                    "y": 1.2779796123504639,
                    "z": 0.07233590632677078
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081567764282227,
                "transform": {
                    "location": {
                        "x": 2978.91357421875,
                        "y": 4266.9716796875,
                        "z": 361.1319580078125
                    },
                    "rotation": {
                        "roll": -0.0006103531923145056,
                        "pitch": 0.5198525190353394,
                        "yaw": 9.181448936462402
                    }
                },
                "velocity": {
                    "x": 7.977548122406006,
                    "y": 1.2904337644577026,
                    "z": 0.0723978579044342
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.845243453979492,
                "transform": {
                    "location": {
                        "x": 2963.323486328125,
                        "y": 4257.66162109375,
                        "z": 360.97222900390625
                    },
                    "rotation": {
                        "roll": 0.0005163030000403523,
                        "pitch": -0.5837967395782471,
                        "yaw": -170.79733276367188
                    }
                },
                "velocity": {
                    "x": -7.744365215301514,
                    "y": -1.2523974180221558,
                    "z": -0.06441357731819153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.8988037109375,
                "transform": {
                    "location": {
                        "x": 2954.349365234375,
                        "y": 4259.50244140625,
                        "z": 360.9138488769531
                    },
                    "rotation": {
                        "roll": 0.0005669716047123075,
                        "pitch": -0.4292910397052765,
                        "yaw": -170.80465698242188
                    }
                },
                "velocity": {
                    "x": -12.732831001281738,
                    "y": -2.0600883960723877,
                    "z": -0.10094542056322098
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26561,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3021.807373046875,
                        "y": 4277.11376953125,
                        "z": 361.5362854003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26560,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3022.125244140625,
                        "y": 4273.8681640625,
                        "z": 361.5347900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.175950527191162,
                "transform": {
                    "location": {
                        "x": 2892.365234375,
                        "y": 4252.9150390625,
                        "z": 360.4989013671875
                    },
                    "rotation": {
                        "roll": 0.010127323679625988,
                        "pitch": 0.3612555265426636,
                        "yaw": 9.785788536071777
                    }
                },
                "velocity": {
                    "x": 5.104278564453125,
                    "y": 0.8575682044029236,
                    "z": 0.03712504357099533
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.689935684204102,
                "transform": {
                    "location": {
                        "x": 2895.97021484375,
                        "y": 4246.830078125,
                        "z": 360.4767150878906
                    },
                    "rotation": {
                        "roll": -0.002227782504633069,
                        "pitch": -0.3723682463169098,
                        "yaw": -170.286376953125
                    }
                },
                "velocity": {
                    "x": -4.623574256896973,
                    "y": -0.7855627536773682,
                    "z": -0.030788129195570946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.013533699326217175,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.3570861816406
                    },
                    "rotation": {
                        "roll": 0.001425284775905311,
                        "pitch": -0.3908917009830475,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 9.101934847421944e-05,
                    "y": -4.695969619206153e-05,
                    "z": -0.013533311896026134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.942091941833496,
                "transform": {
                    "location": {
                        "x": 2924.552734375,
                        "y": 4254.6806640625,
                        "z": 360.6876220703125
                    },
                    "rotation": {
                        "roll": -0.00015258931671269238,
                        "pitch": -0.4136635661125183,
                        "yaw": -170.81692504882812
                    }
                },
                "velocity": {
                    "x": -12.77570629119873,
                    "y": -2.0664656162261963,
                    "z": -0.09376008063554764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.223578453063965,
                "transform": {
                    "location": {
                        "x": 2900.25,
                        "y": 4250.74951171875,
                        "z": 360.51605224609375
                    },
                    "rotation": {
                        "roll": -6.103645864641294e-05,
                        "pitch": -0.42160022258758545,
                        "yaw": -170.79653930664062
                    }
                },
                "velocity": {
                    "x": -13.053180694580078,
                    "y": -2.114030122756958,
                    "z": -0.09150029718875885
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6182498335838318,
        "expert_target_speed": 0,
        "target_point": [
            55.73052437507452,
            5.60341300789956
        ],
        "target_point_next": [
            97.5544801647941,
            9.444804329243867
        ]
    },
    "270": {
        "acceleration": [
            2.7124500274658203,
            0.9524053335189819,
            0.03564618527889252
        ],
        "angular_velocity": [
            -0.2647165060043335,
            0.38168343901634216,
            -9.429163932800293
        ],
        "forward_vector": [
            -0.9991293549537659,
            -0.03916803374886513,
            -0.014363986440002918
        ],
        "right_vector": [
            0.03927600383758545,
            -0.9992015957832336,
            -0.007313033565878868
        ],
        "location": [
            2943.56689453125,
            4255.28076171875,
            360.8240966796875
        ],
        "rotation": [
            0.41905295848846436,
            -0.8230240941047668,
            -177.75503540039062
        ],
        "velocity": [
            -7.251095294952393,
            -0.18012309074401855,
            -0.053404830396175385
        ],
        "speed": 7.253332151797538,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.598194122314453,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.302601337432861,
                "transform": {
                    "location": {
                        "x": 2899.374267578125,
                        "y": 4257.37548828125,
                        "z": 360.5155334472656
                    },
                    "rotation": {
                        "roll": 0.004251281265169382,
                        "pitch": 0.3020719289779663,
                        "yaw": 9.399225234985352
                    }
                },
                "velocity": {
                    "x": 6.21809720993042,
                    "y": 1.0276713371276855,
                    "z": 0.044068507850170135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01192569732666,
                "transform": {
                    "location": {
                        "x": 2937.52001953125,
                        "y": 4260.2724609375,
                        "z": 360.7924499511719
                    },
                    "rotation": {
                        "roll": 0.00019832418183796108,
                        "pitch": 0.4168737530708313,
                        "yaw": 9.222784996032715
                    }
                },
                "velocity": {
                    "x": 7.908175468444824,
                    "y": 1.2837834358215332,
                    "z": 0.06015336886048317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.097164154052734,
                "transform": {
                    "location": {
                        "x": 2939.3271484375,
                        "y": 4263.85888671875,
                        "z": 360.8067626953125
                    },
                    "rotation": {
                        "roll": 0.00260538118891418,
                        "pitch": 0.44220009446144104,
                        "yaw": 9.208827018737793
                    }
                },
                "velocity": {
                    "x": 7.992763996124268,
                    "y": 1.2946629524230957,
                    "z": 0.06026327982544899
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066643714904785,
                "transform": {
                    "location": {
                        "x": 2983.748779296875,
                        "y": 4260.9609375,
                        "z": 361.15557861328125
                    },
                    "rotation": {
                        "roll": 0.008645713329315186,
                        "pitch": -0.5615507960319519,
                        "yaw": -171.56466674804688
                    }
                },
                "velocity": {
                    "x": -7.964140892028809,
                    "y": -1.2797083854675293,
                    "z": -0.07452240586280823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.45598316192627,
                "transform": {
                    "location": {
                        "x": 2977.98828125,
                        "y": 4263.32763671875,
                        "z": 361.1071472167969
                    },
                    "rotation": {
                        "roll": 0.0011982383439317346,
                        "pitch": -0.5076947808265686,
                        "yaw": -170.82147216796875
                    }
                },
                "velocity": {
                    "x": -12.295695304870605,
                    "y": -1.9887216091156006,
                    "z": -0.11124343425035477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.983209609985352,
                "transform": {
                    "location": {
                        "x": 2980.4287109375,
                        "y": 4270.5107421875,
                        "z": 361.1392517089844
                    },
                    "rotation": {
                        "roll": 0.00016833051631692797,
                        "pitch": 0.5240257382392883,
                        "yaw": 9.179339408874512
                    }
                },
                "velocity": {
                    "x": 7.880648136138916,
                    "y": 1.2734845876693726,
                    "z": 0.07251798361539841
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052289962768555,
                "transform": {
                    "location": {
                        "x": 2980.904541015625,
                        "y": 4267.29345703125,
                        "z": 361.1501159667969
                    },
                    "rotation": {
                        "roll": -0.0007934630266390741,
                        "pitch": 0.5292167067527771,
                        "yaw": 9.187060356140137
                    }
                },
                "velocity": {
                    "x": 7.948683261871338,
                    "y": 1.2855303287506104,
                    "z": 0.07230165600776672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.1088457107543945,
                "transform": {
                    "location": {
                        "x": 2961.499267578125,
                        "y": 4257.36669921875,
                        "z": 360.9566955566406
                    },
                    "rotation": {
                        "roll": 0.0013635760406032205,
                        "pitch": -0.5358898043632507,
                        "yaw": -170.83334350585938
                    }
                },
                "velocity": {
                    "x": -7.017471790313721,
                    "y": -1.1345993280410767,
                    "z": -0.05881628021597862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.855011940002441,
                "transform": {
                    "location": {
                        "x": 2951.184814453125,
                        "y": 4258.990234375,
                        "z": 360.8888854980469
                    },
                    "rotation": {
                        "roll": 0.001728398958221078,
                        "pitch": -0.44048571586608887,
                        "yaw": -170.8118896484375
                    }
                },
                "velocity": {
                    "x": -12.68964958190918,
                    "y": -2.0528929233551025,
                    "z": -0.09873415529727936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.533895015716553,
                "transform": {
                    "location": {
                        "x": 2893.6923828125,
                        "y": 4253.13916015625,
                        "z": 360.5076599121094
                    },
                    "rotation": {
                        "roll": 0.005139246117323637,
                        "pitch": 0.4161634147167206,
                        "yaw": 9.633451461791992
                    }
                },
                "velocity": {
                    "x": 5.457596302032471,
                    "y": 0.9150323271751404,
                    "z": 0.03677412122488022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2246413230896,
                "transform": {
                    "location": {
                        "x": 2894.724365234375,
                        "y": 4246.6181640625,
                        "z": 360.468505859375
                    },
                    "rotation": {
                        "roll": -0.003265383653342724,
                        "pitch": -0.3747246563434601,
                        "yaw": -170.329833984375
                    }
                },
                "velocity": {
                    "x": -5.150839805603027,
                    "y": -0.8743546605110168,
                    "z": -0.03510654345154762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.04176055267453194,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.3687438964844
                    },
                    "rotation": {
                        "roll": 0.0014123277505859733,
                        "pitch": -0.3906526565551758,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00030162878101691604,
                    "y": -6.794016371713951e-05,
                    "z": 0.04175940901041031
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.406079292297363,
                "transform": {
                    "location": {
                        "x": 2921.401611328125,
                        "y": 4254.17138671875,
                        "z": 360.6646423339844
                    },
                    "rotation": {
                        "roll": 0.0017465512501075864,
                        "pitch": -0.4775941073894501,
                        "yaw": -170.80709838867188
                    }
                },
                "velocity": {
                    "x": -12.246580123901367,
                    "y": -1.9808883666992188,
                    "z": -0.09037591516971588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.817602157592773,
                "transform": {
                    "location": {
                        "x": 2897.15576171875,
                        "y": 4250.24853515625,
                        "z": 360.4944763183594
                    },
                    "rotation": {
                        "roll": 0.00026764694484882057,
                        "pitch": -0.6188287734985352,
                        "yaw": -170.80165100097656
                    }
                },
                "velocity": {
                    "x": -11.665284156799316,
                    "y": -1.8895269632339478,
                    "z": -0.0809599980711937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5133910775184631,
        "expert_target_speed": 0,
        "target_point": [
            53.6394523536141,
            7.245695926952321
        ],
        "target_point_next": [
            95.3311291281515,
            12.325425537041294
        ]
    },
    "275": {
        "acceleration": [
            1.8897724151611328,
            0.3664105534553528,
            0.029258355498313904
        ],
        "angular_velocity": [
            -0.3653561472892761,
            0.3382607698440552,
            -0.9139863848686218
        ],
        "forward_vector": [
            -0.9997811317443848,
            -0.016585299745202065,
            -0.012752901762723923
        ],
        "right_vector": [
            0.01665848307311535,
            -0.9998452663421631,
            -0.005653880070894957
        ],
        "location": [
            2941.83056640625,
            4255.25048828125,
            360.81097412109375
        ],
        "rotation": [
            0.32397153973579407,
            -0.7307072281837463,
            -179.0496063232422
        ],
        "velocity": [
            -6.693968296051025,
            -0.04017537459731102,
            -0.04887145385146141
        ],
        "speed": 6.694088855793618,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.945528030395508,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4824981689453125,
                "transform": {
                    "location": {
                        "x": 2901.004638671875,
                        "y": 4257.64453125,
                        "z": 360.5272521972656
                    },
                    "rotation": {
                        "roll": 0.0025773339439183474,
                        "pitch": 0.5249956250190735,
                        "yaw": 9.376932144165039
                    }
                },
                "velocity": {
                    "x": 7.382543087005615,
                    "y": 1.2179025411605835,
                    "z": 0.05050792545080185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05770492553711,
                "transform": {
                    "location": {
                        "x": 2939.50390625,
                        "y": 4260.59375,
                        "z": 360.8072509765625
                    },
                    "rotation": {
                        "roll": -0.0005188013892620802,
                        "pitch": 0.4192369878292084,
                        "yaw": 9.216202735900879
                    }
                },
                "velocity": {
                    "x": 7.953465461730957,
                    "y": 1.2904728651046753,
                    "z": 0.06061100959777832
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.000557899475098,
                "transform": {
                    "location": {
                        "x": 2941.311767578125,
                        "y": 4264.18017578125,
                        "z": 360.8216247558594
                    },
                    "rotation": {
                        "roll": 0.0008392317104153335,
                        "pitch": 0.4176660478115082,
                        "yaw": 9.196563720703125
                    }
                },
                "velocity": {
                    "x": 7.897672176361084,
                    "y": 1.277555227279663,
                    "z": 0.059653691947460175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.561118125915527,
                "transform": {
                    "location": {
                        "x": 2981.71240234375,
                        "y": 4260.63623046875,
                        "z": 361.13629150390625
                    },
                    "rotation": {
                        "roll": 0.006346834823489189,
                        "pitch": -0.5143405199050903,
                        "yaw": -171.39028930664062
                    }
                },
                "velocity": {
                    "x": -8.453657150268555,
                    "y": -1.3499963283538818,
                    "z": -0.07706370204687119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.73991584777832,
                "transform": {
                    "location": {
                        "x": 2974.864501953125,
                        "y": 4262.82275390625,
                        "z": 361.0791015625
                    },
                    "rotation": {
                        "roll": 0.0013456109445542097,
                        "pitch": -0.49618589878082275,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -12.576014518737793,
                    "y": -2.033956289291382,
                    "z": -0.11113869398832321
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018138885498047,
                "transform": {
                    "location": {
                        "x": 2982.403564453125,
                        "y": 4270.830078125,
                        "z": 361.1574401855469
                    },
                    "rotation": {
                        "roll": -0.0006713908514939249,
                        "pitch": 0.5231173038482666,
                        "yaw": 9.177776336669922
                    }
                },
                "velocity": {
                    "x": 7.9151530265808105,
                    "y": 1.2788975238800049,
                    "z": 0.07298759371042252
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081466674804688,
                "transform": {
                    "location": {
                        "x": 2982.8955078125,
                        "y": 4267.6162109375,
                        "z": 361.16845703125
                    },
                    "rotation": {
                        "roll": 5.9446520026540384e-05,
                        "pitch": 0.5291278958320618,
                        "yaw": 9.190757751464844
                    }
                },
                "velocity": {
                    "x": 7.977382183074951,
                    "y": 1.2908055782318115,
                    "z": 0.07281842827796936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.4740729331970215,
                "transform": {
                    "location": {
                        "x": 2959.7265625,
                        "y": 4257.080078125,
                        "z": 360.9415588378906
                    },
                    "rotation": {
                        "roll": 0.0014575629029422998,
                        "pitch": -0.46478068828582764,
                        "yaw": -170.79776000976562
                    }
                },
                "velocity": {
                    "x": -7.3780388832092285,
                    "y": -1.1928131580352783,
                    "z": -0.059179410338401794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.706192016601562,
                "transform": {
                    "location": {
                        "x": 2947.98876953125,
                        "y": 4258.47314453125,
                        "z": 360.8641052246094
                    },
                    "rotation": {
                        "roll": 0.0012634003069251776,
                        "pitch": -0.46826407313346863,
                        "yaw": -170.8130340576172
                    }
                },
                "velocity": {
                    "x": -12.542834281921387,
                    "y": -2.028599739074707,
                    "z": -0.09697207063436508
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.808594703674316,
                "transform": {
                    "location": {
                        "x": 2895.337646484375,
                        "y": 4253.4150390625,
                        "z": 360.517578125
                    },
                    "rotation": {
                        "roll": 0.003518381854519248,
                        "pitch": 0.586296558380127,
                        "yaw": 9.628259658813477
                    }
                },
                "velocity": {
                    "x": 7.700793266296387,
                    "y": 1.2919199466705322,
                    "z": 0.05364730581641197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.205925941467285,
                "transform": {
                    "location": {
                        "x": 2893.329345703125,
                        "y": 4246.38134765625,
                        "z": 360.4586486816406
                    },
                    "rotation": {
                        "roll": -0.0027160632889717817,
                        "pitch": -0.3680720329284668,
                        "yaw": -170.3661346435547
                    }
                },
                "velocity": {
                    "x": -6.118467330932617,
                    "y": -1.0373436212539673,
                    "z": -0.042347945272922516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0034478374291211367,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.3732604980469
                    },
                    "rotation": {
                        "roll": 0.0015488213393837214,
                        "pitch": -0.39117857813835144,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -1.5145018551265821e-05,
                    "y": -6.0802194639109075e-05,
                    "z": 0.0034472679253667593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.851964950561523,
                "transform": {
                    "location": {
                        "x": 2918.5048828125,
                        "y": 4253.70263671875,
                        "z": 360.64349365234375
                    },
                    "rotation": {
                        "roll": 0.001975846942514181,
                        "pitch": -0.6088293790817261,
                        "yaw": -170.8140106201172
                    }
                },
                "velocity": {
                    "x": -10.71253490447998,
                    "y": -1.7322180271148682,
                    "z": -0.07845525443553925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.370266914367676,
                "transform": {
                    "location": {
                        "x": 2894.420166015625,
                        "y": 4249.8056640625,
                        "z": 360.4756164550781
                    },
                    "rotation": {
                        "roll": -0.0006103556370362639,
                        "pitch": -0.6632933020591736,
                        "yaw": -170.797607421875
                    }
                },
                "velocity": {
                    "x": -10.236491203308105,
                    "y": -1.6588399410247803,
                    "z": -0.0703079104423523
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12094885110855103,
        "expert_target_speed": 0,
        "target_point": [
            51.72547122125467,
            8.454228594951942
        ],
        "target_point_next": [
            93.29174251395246,
            14.474582073441862
        ]
    },
    "280": {
        "acceleration": [
            1.2117671966552734,
            -0.0322004035115242,
            0.015206485986709595
        ],
        "angular_velocity": [
            -0.5192140936851501,
            0.3312443196773529,
            -4.238965034484863
        ],
        "forward_vector": [
            -0.9999216794967651,
            -0.005507244262844324,
            -0.011241437867283821
        ],
        "right_vector": [
            0.005544883199036121,
            -0.9999791979789734,
            -0.003319838084280491
        ],
        "location": [
            2940.2080078125,
            4255.24169921875,
            360.7988586425781
        ],
        "rotation": [
            0.19022507965564728,
            -0.6441004872322083,
            -179.68443298339844
        ],
        "velocity": [
            -6.3215250968933105,
            -0.018474796786904335,
            -0.046600889414548874
        ],
        "speed": 6.321552093336596,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.439677238464355,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.381114959716797,
                "transform": {
                    "location": {
                        "x": 2903.044189453125,
                        "y": 4257.97900390625,
                        "z": 360.5415954589844
                    },
                    "rotation": {
                        "roll": 0.0046506887301802635,
                        "pitch": 0.5454657077789307,
                        "yaw": 9.318235397338867
                    }
                },
                "velocity": {
                    "x": 8.271148681640625,
                    "y": 1.3519777059555054,
                    "z": 0.05782298743724823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.990251064300537,
                "transform": {
                    "location": {
                        "x": 2941.483154296875,
                        "y": 4260.91455078125,
                        "z": 360.8219909667969
                    },
                    "rotation": {
                        "roll": 0.0002821230737026781,
                        "pitch": 0.4209650158882141,
                        "yaw": 9.20650863647461
                    }
                },
                "velocity": {
                    "x": 7.887466907501221,
                    "y": 1.2760798931121826,
                    "z": 0.05994641035795212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04574203491211,
                "transform": {
                    "location": {
                        "x": 2943.2900390625,
                        "y": 4264.50048828125,
                        "z": 360.8365173339844
                    },
                    "rotation": {
                        "roll": -6.103658961365e-05,
                        "pitch": 0.43783560395240784,
                        "yaw": 9.1941499710083
                    }
                },
                "velocity": {
                    "x": 7.942148685455322,
                    "y": 1.2855194807052612,
                    "z": 0.06064984202384949
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.40599536895752,
                "transform": {
                    "location": {
                        "x": 2979.512451171875,
                        "y": 4260.28857421875,
                        "z": 361.11614990234375
                    },
                    "rotation": {
                        "roll": 0.000984333804808557,
                        "pitch": -0.4922448694705963,
                        "yaw": -170.9481964111328
                    }
                },
                "velocity": {
                    "x": -9.286282539367676,
                    "y": -1.493511438369751,
                    "z": -0.08439106494188309
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.387845039367676,
                "transform": {
                    "location": {
                        "x": 2971.76220703125,
                        "y": 4262.32080078125,
                        "z": 361.0518798828125
                    },
                    "rotation": {
                        "roll": 0.0007423913339152932,
                        "pitch": -0.5020461678504944,
                        "yaw": -170.81431579589844
                    }
                },
                "velocity": {
                    "x": -12.22843074798584,
                    "y": -1.9780610799789429,
                    "z": -0.10704807192087173
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984647274017334,
                "transform": {
                    "location": {
                        "x": 2984.378173828125,
                        "y": 4271.1494140625,
                        "z": 361.1758117675781
                    },
                    "rotation": {
                        "roll": 0.0001474989257985726,
                        "pitch": 0.5257537961006165,
                        "yaw": 9.179240226745605
                    }
                },
                "velocity": {
                    "x": 7.88205623626709,
                    "y": 1.2737821340560913,
                    "z": 0.07250898331403732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051528930664062,
                "transform": {
                    "location": {
                        "x": 2984.885986328125,
                        "y": 4267.9384765625,
                        "z": 361.1869812011719
                    },
                    "rotation": {
                        "roll": -0.00027465674793347716,
                        "pitch": 0.5308218002319336,
                        "yaw": 9.191701889038086
                    }
                },
                "velocity": {
                    "x": 7.947828769683838,
                    "y": 1.2860325574874878,
                    "z": 0.07254952937364578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.571721076965332,
                "transform": {
                    "location": {
                        "x": 2957.739990234375,
                        "y": 4256.7587890625,
                        "z": 360.9249572753906
                    },
                    "rotation": {
                        "roll": 0.0006004140595905483,
                        "pitch": -0.39752382040023804,
                        "yaw": -170.82667541503906
                    }
                },
                "velocity": {
                    "x": -8.461705207824707,
                    "y": -1.3671842813491821,
                    "z": -0.06890609860420227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.691997528076172,
                "transform": {
                    "location": {
                        "x": 2944.8603515625,
                        "y": 4257.96728515625,
                        "z": 360.8402404785156
                    },
                    "rotation": {
                        "roll": 0.0014972294447943568,
                        "pitch": -0.43950897455215454,
                        "yaw": -170.8130340576172
                    }
                },
                "velocity": {
                    "x": -12.528837203979492,
                    "y": -2.026344060897827,
                    "z": -0.09476689994335175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2861.626220703125,
                        "y": 4251.18408203125,
                        "z": 360.2539367675781
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.334933280944824,
                "transform": {
                    "location": {
                        "x": 2897.383056640625,
                        "y": 4253.75732421875,
                        "z": 360.53253173828125
                    },
                    "rotation": {
                        "roll": 0.00904398038983345,
                        "pitch": 0.48984748125076294,
                        "yaw": 9.482105255126953
                    }
                },
                "velocity": {
                    "x": 8.223349571228027,
                    "y": 1.358106017112732,
                    "z": 0.05630417540669441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0544114112854,
                "transform": {
                    "location": {
                        "x": 2891.7734375,
                        "y": 4246.1171875,
                        "z": 360.4480895996094
                    },
                    "rotation": {
                        "roll": -0.0018615789012983441,
                        "pitch": -0.3863837718963623,
                        "yaw": -170.41708374023438
                    }
                },
                "velocity": {
                    "x": -5.971024036407471,
                    "y": -1.0005288124084473,
                    "z": -0.04137929901480675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016804704209789634,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.3733215332031
                    },
                    "rotation": {
                        "roll": 0.001537755480967462,
                        "pitch": -0.39121273159980774,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -1.0984763321175706e-05,
                    "y": 5.8304522099206224e-05,
                    "z": -0.0016794227994978428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.702038764953613,
                "transform": {
                    "location": {
                        "x": 2916.03369140625,
                        "y": 4253.30322265625,
                        "z": 360.625732421875
                    },
                    "rotation": {
                        "roll": 0.0004856667364947498,
                        "pitch": -0.5964052677154541,
                        "yaw": -170.7976531982422
                    }
                },
                "velocity": {
                    "x": -9.577282905578613,
                    "y": -1.5493537187576294,
                    "z": -0.06865866482257843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.142446517944336,
                "transform": {
                    "location": {
                        "x": 2892.177978515625,
                        "y": 4249.4423828125,
                        "z": 360.4601745605469
                    },
                    "rotation": {
                        "roll": -0.0007629480678588152,
                        "pitch": -0.801543116569519,
                        "yaw": -170.7870330810547
                    }
                },
                "velocity": {
                    "x": -8.037572860717773,
                    "y": -1.3014439344406128,
                    "z": -0.05568736791610718
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6291137933731079,
        "expert_target_speed": 0,
        "target_point": [
            50.00604045892195,
            9.026977067579237
        ],
        "target_point_next": [
            91.50305443766018,
            15.507516862420353
        ]
    },
    "285": {
        "acceleration": [
            0.17037391662597656,
            -0.06294738501310349,
            0.0011863559484481812
        ],
        "angular_velocity": [
            -0.20704612135887146,
            0.4042242169380188,
            3.413222074508667
        ],
        "forward_vector": [
            -0.9999398589134216,
            -0.0051614101976156235,
            -0.009682622738182545
        ],
        "right_vector": [
            0.005179352592676878,
            -0.9999849200248718,
            -0.0018288795836269855
        ],
        "location": [
            2938.653076171875,
            4255.234375,
            360.7872314453125
        ],
        "rotation": [
            0.1047920510172844,
            -0.5547820925712585,
            -179.70425415039062
        ],
        "velocity": [
            -6.1646409034729,
            -0.033721111714839935,
            -0.04492969065904617
        ],
        "speed": 6.164733131462096,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.045951843261719,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.877837657928467,
                "transform": {
                    "location": {
                        "x": 2905.0380859375,
                        "y": 4258.3046875,
                        "z": 360.5552673339844
                    },
                    "rotation": {
                        "roll": 0.002074666554108262,
                        "pitch": 0.37074264883995056,
                        "yaw": 9.408130645751953
                    }
                },
                "velocity": {
                    "x": 7.77434778213501,
                    "y": 1.2714959383010864,
                    "z": 0.05601814016699791
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06014347076416,
                "transform": {
                    "location": {
                        "x": 2943.464111328125,
                        "y": 4261.2353515625,
                        "z": 360.8369140625
                    },
                    "rotation": {
                        "roll": -6.103314080974087e-05,
                        "pitch": 0.42313703894615173,
                        "yaw": 9.196529388427734
                    }
                },
                "velocity": {
                    "x": 7.956318378448486,
                    "y": 1.2880760431289673,
                    "z": 0.06139505282044411
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044462203979492,
                "transform": {
                    "location": {
                        "x": 2945.27783203125,
                        "y": 4264.82275390625,
                        "z": 360.8515930175781
                    },
                    "rotation": {
                        "roll": -0.00012206647807033733,
                        "pitch": 0.43559530377388,
                        "yaw": 9.190269470214844
                    }
                },
                "velocity": {
                    "x": 7.940962791442871,
                    "y": 1.2847974300384521,
                    "z": 0.061447035521268845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.274663925170898,
                "transform": {
                    "location": {
                        "x": 2977.010498046875,
                        "y": 4259.88623046875,
                        "z": 361.0934753417969
                    },
                    "rotation": {
                        "roll": -0.0032348555978387594,
                        "pitch": -0.47436344623565674,
                        "yaw": -170.67945861816406
                    }
                },
                "velocity": {
                    "x": -10.141376495361328,
                    "y": -1.6470675468444824,
                    "z": -0.0914858803153038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.074483871459961,
                "transform": {
                    "location": {
                        "x": 2968.744873046875,
                        "y": 4261.8330078125,
                        "z": 361.02569580078125
                    },
                    "rotation": {
                        "roll": 0.000701705168467015,
                        "pitch": -0.49984005093574524,
                        "yaw": -170.80322265625
                    }
                },
                "velocity": {
                    "x": -11.91905689239502,
                    "y": -1.9283498525619507,
                    "z": -0.1034756749868393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015955924987793,
                "transform": {
                    "location": {
                        "x": 2986.352783203125,
                        "y": 4271.46875,
                        "z": 361.1941223144531
                    },
                    "rotation": {
                        "roll": 0.0011344001395627856,
                        "pitch": 0.5302685499191284,
                        "yaw": 9.180130004882812
                    }
                },
                "velocity": {
                    "x": 7.912960052490234,
                    "y": 1.2787847518920898,
                    "z": 0.07299777865409851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0818510055542,
                "transform": {
                    "location": {
                        "x": 2986.876708984375,
                        "y": 4268.2607421875,
                        "z": 361.2054748535156
                    },
                    "rotation": {
                        "roll": 0.0002955453237518668,
                        "pitch": 0.5355960726737976,
                        "yaw": 9.191723823547363
                    }
                },
                "velocity": {
                    "x": 7.977746963500977,
                    "y": 1.2909505367279053,
                    "z": 0.07297533005475998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.7812581062316895,
                "transform": {
                    "location": {
                        "x": 2955.68798828125,
                        "y": 4256.4267578125,
                        "z": 360.9090576171875
                    },
                    "rotation": {
                        "roll": 0.0011034510098397732,
                        "pitch": -0.4795543849468231,
                        "yaw": -170.78665161132812
                    }
                },
                "velocity": {
                    "x": -7.681046009063721,
                    "y": -1.243247389793396,
                    "z": -0.062019672244787216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.191591262817383,
                "transform": {
                    "location": {
                        "x": 2941.89892578125,
                        "y": 4257.48828125,
                        "z": 360.81793212890625
                    },
                    "rotation": {
                        "roll": -0.0003356953675393015,
                        "pitch": -0.660089910030365,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -11.047609329223633,
                    "y": -1.7874878644943237,
                    "z": -0.08328767865896225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2863.682373046875,
                        "y": 4251.5166015625,
                        "z": 360.2681884765625
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.799724578857422,
                "transform": {
                    "location": {
                        "x": 2899.362548828125,
                        "y": 4254.08447265625,
                        "z": 360.5473327636719
                    },
                    "rotation": {
                        "roll": 0.004890467040240765,
                        "pitch": 0.3721291720867157,
                        "yaw": 9.381183624267578
                    }
                },
                "velocity": {
                    "x": 7.696239471435547,
                    "y": 1.2651454210281372,
                    "z": 0.05487458035349846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.902935266494751,
                "transform": {
                    "location": {
                        "x": 2890.949951171875,
                        "y": 4245.9794921875,
                        "z": 360.4429626464844
                    },
                    "rotation": {
                        "roll": -0.0035705529153347015,
                        "pitch": -0.48571521043777466,
                        "yaw": -170.42373657226562
                    }
                },
                "velocity": {
                    "x": -0.890392005443573,
                    "y": -0.1498686969280243,
                    "z": -0.005792274139821529
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019950472051277757,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": 0.0015424346784129739,
                        "pitch": -0.39117857813835144,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.577667899255175e-05,
                    "y": -1.6567548300372437e-05,
                    "z": 0.00019818867440335453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.40659236907959,
                "transform": {
                    "location": {
                        "x": 2913.56640625,
                        "y": 4252.90380859375,
                        "z": 360.6083068847656
                    },
                    "rotation": {
                        "roll": 0.0008411076269112527,
                        "pitch": -0.3671568036079407,
                        "yaw": -170.8192596435547
                    }
                },
                "velocity": {
                    "x": -10.272805213928223,
                    "y": -1.6617199182510376,
                    "z": -0.07299281656742096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.147794246673584,
                "transform": {
                    "location": {
                        "x": 2890.37451171875,
                        "y": 4249.150390625,
                        "z": 360.44775390625
                    },
                    "rotation": {
                        "roll": -0.001983639318495989,
                        "pitch": -0.8200051188468933,
                        "yaw": -170.7798614501953
                    }
                },
                "velocity": {
                    "x": -6.068458080291748,
                    "y": -0.9836036562919617,
                    "z": -0.041411999613046646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9408907294273376,
        "expert_target_speed": 0,
        "target_point": [
            48.44796805043931,
            9.044966012174559
        ],
        "target_point_next": [
            89.94273918191985,
            15.539851225183781
        ]
    },
    "290": {
        "acceleration": [
            -4.418420791625977,
            1.5567493438720703,
            -0.17599612474441528
        ],
        "angular_velocity": [
            5.438480377197266,
            0.6140860319137573,
            -6.879242897033691
        ],
        "forward_vector": [
            -0.9998098611831665,
            0.017302293330430984,
            -0.008989092893898487
        ],
        "right_vector": [
            -0.01707504130899906,
            -0.9995473623275757,
            -0.024770639836788177
        ],
        "location": [
            2936.987060546875,
            4255.14599609375,
            360.77197265625
        ],
        "rotation": [
            1.419455647468567,
            -0.5150440335273743,
            179.00856018066406
        ],
        "velocity": [
            -7.249917984008789,
            -0.4835816025733948,
            -0.08562004566192627
        ],
        "speed": 7.266027934243132,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.598221778869629,
        "front_vehicle_info": {
            "id": 26413,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07547378540039,
                "transform": {
                    "location": {
                        "x": 2906.99462890625,
                        "y": 4258.6259765625,
                        "z": 360.5692138671875
                    },
                    "rotation": {
                        "roll": 0.0010473888833075762,
                        "pitch": 0.4247421324253082,
                        "yaw": 9.474839210510254
                    }
                },
                "velocity": {
                    "x": 7.9686713218688965,
                    "y": 1.3078166246414185,
                    "z": 0.056345757097005844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995315074920654,
                "transform": {
                    "location": {
                        "x": 2945.44482421875,
                        "y": 4261.556640625,
                        "z": 360.8518981933594
                    },
                    "rotation": {
                        "roll": 0.0005542979342862964,
                        "pitch": 0.4275151789188385,
                        "yaw": 9.192465782165527
                    }
                },
                "velocity": {
                    "x": 7.892411231994629,
                    "y": 1.2772408723831177,
                    "z": 0.05971282720565796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.025337219238281,
                "transform": {
                    "location": {
                        "x": 2947.25927734375,
                        "y": 4265.14306640625,
                        "z": 360.8667907714844
                    },
                    "rotation": {
                        "roll": -0.00012206648534629494,
                        "pitch": 0.4364900588989258,
                        "yaw": 9.19028091430664
                    }
                },
                "velocity": {
                    "x": 7.922089099884033,
                    "y": 1.2817294597625732,
                    "z": 0.06091625243425369
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.336078643798828,
                "transform": {
                    "location": {
                        "x": 2974.5927734375,
                        "y": 4259.4931640625,
                        "z": 361.0723876953125
                    },
                    "rotation": {
                        "roll": -0.0029907238204032183,
                        "pitch": -0.5238345265388489,
                        "yaw": -170.65341186523438
                    }
                },
                "velocity": {
                    "x": -9.214325904846191,
                    "y": -1.500678539276123,
                    "z": -0.08078932762145996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.351937294006348,
                "transform": {
                    "location": {
                        "x": 2965.74462890625,
                        "y": 4261.34716796875,
                        "z": 360.999755859375
                    },
                    "rotation": {
                        "roll": 0.0002449580642860383,
                        "pitch": -0.47521722316741943,
                        "yaw": -170.8081512451172
                    }
                },
                "velocity": {
                    "x": -12.192813873291016,
                    "y": -1.9735561609268188,
                    "z": -0.1035698652267456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984267711639404,
                "transform": {
                    "location": {
                        "x": 2988.326904296875,
                        "y": 4271.78759765625,
                        "z": 361.2125549316406
                    },
                    "rotation": {
                        "roll": 0.001546973711811006,
                        "pitch": 0.529052734375,
                        "yaw": 9.180193901062012
                    }
                },
                "velocity": {
                    "x": 7.881672382354736,
                    "y": 1.273759126663208,
                    "z": 0.07284612208604813
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.051924705505371,
                "transform": {
                    "location": {
                        "x": 2988.867431640625,
                        "y": 4268.5830078125,
                        "z": 361.2240295410156
                    },
                    "rotation": {
                        "roll": 8.040829561650753e-05,
                        "pitch": 0.5345988869667053,
                        "yaw": 9.191821098327637
                    }
                },
                "velocity": {
                    "x": 7.9481940269470215,
                    "y": 1.286166787147522,
                    "z": 0.07402417808771133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.447310447692871,
                "transform": {
                    "location": {
                        "x": 2953.953369140625,
                        "y": 4256.14599609375,
                        "z": 360.8956298828125
                    },
                    "rotation": {
                        "roll": -0.0011901870602741838,
                        "pitch": -0.5253644585609436,
                        "yaw": -170.82667541503906
                    }
                },
                "velocity": {
                    "x": -6.364388942718506,
                    "y": -1.029457688331604,
                    "z": -0.05077453330159187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.065706253051758,
                "transform": {
                    "location": {
                        "x": 2939.48388671875,
                        "y": 4257.16748046875,
                        "z": 360.8020935058594
                    },
                    "rotation": {
                        "roll": -0.9583739042282104,
                        "pitch": -0.5987821817398071,
                        "yaw": -172.56185913085938
                    }
                },
                "velocity": {
                    "x": -8.023626327514648,
                    "y": -0.8218451738357544,
                    "z": -0.04015810042619705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2861.218017578125,
                        "y": 4247.82568359375,
                        "z": 360.33837890625
                    },
                    "rotation": {
                        "roll": 6.670286545329418e-09,
                        "pitch": 0.42088305950164795,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2865.73876953125,
                        "y": 4251.849609375,
                        "z": 360.2825622558594
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.096470832824707,
                "transform": {
                    "location": {
                        "x": 2901.311279296875,
                        "y": 4254.40478515625,
                        "z": 360.5605773925781
                    },
                    "rotation": {
                        "roll": 0.0024400486145168543,
                        "pitch": 0.4139162600040436,
                        "yaw": 9.313569068908691
                    }
                },
                "velocity": {
                    "x": 7.989473819732666,
                    "y": 1.3107612133026123,
                    "z": 0.05518036708235741
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5008525252342224,
                "transform": {
                    "location": {
                        "x": 2890.8994140625,
                        "y": 4245.97119140625,
                        "z": 360.442138671875
                    },
                    "rotation": {
                        "roll": -0.0022582989186048508,
                        "pitch": -0.4209308624267578,
                        "yaw": -170.40744018554688
                    }
                },
                "velocity": {
                    "x": -0.4940342903137207,
                    "y": -0.0823083221912384,
                    "z": -0.002956171054393053
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008100047707557678,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": 0.0011498797684907913,
                        "pitch": -0.3909600079059601,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -4.499926944845356e-06,
                    "y": -2.3246089767781086e-05,
                    "z": -0.0008096586097963154
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.500746726989746,
                "transform": {
                    "location": {
                        "x": 2910.9267578125,
                        "y": 4252.4765625,
                        "z": 360.5895080566406
                    },
                    "rotation": {
                        "roll": 0.0006711914902552962,
                        "pitch": -0.3874834477901459,
                        "yaw": -170.7951202392578
                    }
                },
                "velocity": {
                    "x": -10.365623474121094,
                    "y": -1.6774654388427734,
                    "z": -0.07514061778783798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.225571155548096,
                "transform": {
                    "location": {
                        "x": 2889.267333984375,
                        "y": 4248.970703125,
                        "z": 360.43988037109375
                    },
                    "rotation": {
                        "roll": 0.00191009312402457,
                        "pitch": -0.7897337675094604,
                        "yaw": -170.93609619140625
                    }
                },
                "velocity": {
                    "x": -4.1716532707214355,
                    "y": -0.6722249984741211,
                    "z": -0.029565056785941124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9443071484565735,
        "expert_target_speed": 0,
        "target_point": [
            46.56832586820116,
            10.013794759617369
        ],
        "target_point_next": [
            87.90672970320948,
            17.43915222965788
        ]
    },
    "295": {
        "acceleration": [
            0.19249916076660156,
            1.926741123199463,
            -0.06324455142021179
        ],
        "angular_velocity": [
            -3.576392650604248,
            1.651463270187378,
            -0.7449652552604675
        ],
        "forward_vector": [
            -0.9992737770080566,
            0.03789479658007622,
            -0.003986705094575882
        ],
        "right_vector": [
            -0.03774840384721756,
            -0.9987759590148926,
            -0.03196226432919502
        ],
        "location": [
            2935.139892578125,
            4255.07666015625,
            360.7523498535156
        ],
        "rotation": [
            1.8316295146942139,
            -0.22842200100421906,
            177.8282470703125
        ],
        "velocity": [
            -7.330071926116943,
            -0.009693548083305359,
            -0.07270105928182602
        ],
        "speed": 7.330078335660691,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.78851890563965,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2908.519287109375,
                4252.08740234375,
                360.5721740722656
            ],
            "velocity": [
                -8.904765129089355,
                -1.4396018981933594,
                -0.06363018602132797
            ],
            "speed_kmh": 32.47418395917142,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.108146667480469,
                "transform": {
                    "location": {
                        "x": 2909.00341796875,
                        "y": 4258.955078125,
                        "z": 360.58343505859375
                    },
                    "rotation": {
                        "roll": 0.002292994409799576,
                        "pitch": 0.40903952717781067,
                        "yaw": 9.431192398071289
                    }
                },
                "velocity": {
                    "x": 8.00182819366455,
                    "y": 1.3074817657470703,
                    "z": 0.0572097972035408
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055817604064941,
                "transform": {
                    "location": {
                        "x": 2947.425537109375,
                        "y": 4261.876953125,
                        "z": 360.8670654296875
                    },
                    "rotation": {
                        "roll": -0.0004882821813225746,
                        "pitch": 0.4297349750995636,
                        "yaw": 9.188932418823242
                    }
                },
                "velocity": {
                    "x": 7.952212810516357,
                    "y": 1.286370873451233,
                    "z": 0.061310335993766785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042881965637207,
                "transform": {
                    "location": {
                        "x": 2949.242431640625,
                        "y": 4265.46337890625,
                        "z": 360.88214111328125
                    },
                    "rotation": {
                        "roll": 0.0005461584078148007,
                        "pitch": 0.4494059383869171,
                        "yaw": 9.187387466430664
                    }
                },
                "velocity": {
                    "x": 7.939479827880859,
                    "y": 1.2841107845306396,
                    "z": 0.06066317483782768
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.321371078491211,
                "transform": {
                    "location": {
                        "x": 2972.308349609375,
                        "y": 4259.1201171875,
                        "z": 361.0521545410156
                    },
                    "rotation": {
                        "roll": -0.0014648449141532183,
                        "pitch": -0.501984715461731,
                        "yaw": -170.6969451904297
                    }
                },
                "velocity": {
                    "x": -9.199748992919922,
                    "y": -1.4986894130706787,
                    "z": -0.08064340054988861
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.037727355957031,
                "transform": {
                    "location": {
                        "x": 2962.7197265625,
                        "y": 4260.857421875,
                        "z": 360.9745178222656
                    },
                    "rotation": {
                        "roll": -0.0002136209368472919,
                        "pitch": -0.4783932566642761,
                        "yaw": -170.79811096191406
                    }
                },
                "velocity": {
                    "x": -11.882631301879883,
                    "y": -1.9235649108886719,
                    "z": -0.09931996464729309
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016695976257324,
                "transform": {
                    "location": {
                        "x": 2990.301513671875,
                        "y": 4272.107421875,
                        "z": 361.2310485839844
                    },
                    "rotation": {
                        "roll": -9.155443694908172e-05,
                        "pitch": 0.5287385582923889,
                        "yaw": 9.180116653442383
                    }
                },
                "velocity": {
                    "x": 7.91369104385376,
                    "y": 1.278892993927002,
                    "z": 0.07308675348758698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081313133239746,
                "transform": {
                    "location": {
                        "x": 2990.858154296875,
                        "y": 4268.9052734375,
                        "z": 361.2425842285156
                    },
                    "rotation": {
                        "roll": 0.0005278384196572006,
                        "pitch": 0.5340319871902466,
                        "yaw": 9.1918306350708
                    }
                },
                "velocity": {
                    "x": 7.97719669342041,
                    "y": 1.2908450365066528,
                    "z": 0.07535571604967117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.388725280761719,
                "transform": {
                    "location": {
                        "x": 2952.3984375,
                        "y": 4255.89453125,
                        "z": 360.8829345703125
                    },
                    "rotation": {
                        "roll": -0.0008239720482379198,
                        "pitch": -0.4652041494846344,
                        "yaw": -170.7854766845703
                    }
                },
                "velocity": {
                    "x": -6.306296348571777,
                    "y": -1.0217951536178589,
                    "z": -0.04872371628880501
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.667877197265625,
                "transform": {
                    "location": {
                        "x": 2937.8349609375,
                        "y": 4256.9951171875,
                        "z": 360.7921447753906
                    },
                    "rotation": {
                        "roll": -1.2591552734375,
                        "pitch": -0.8294034600257874,
                        "yaw": -174.90692138671875
                    }
                },
                "velocity": {
                    "x": -4.634642124176025,
                    "y": -0.5551875829696655,
                    "z": -0.030633751302957535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2863.268310546875,
                        "y": 4248.15673828125,
                        "z": 360.275146484375
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.848433971405029,
                "transform": {
                    "location": {
                        "x": 2867.59765625,
                        "y": 4252.1513671875,
                        "z": 360.2936096191406
                    },
                    "rotation": {
                        "roll": -0.0020751911215484142,
                        "pitch": 0.37469732761383057,
                        "yaw": 9.253714561462402
                    }
                },
                "velocity": {
                    "x": 6.755188465118408,
                    "y": 1.125917673110962,
                    "z": 0.02803846262395382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077260971069336,
                "transform": {
                    "location": {
                        "x": 2903.321533203125,
                        "y": 4254.7333984375,
                        "z": 360.57470703125
                    },
                    "rotation": {
                        "roll": 0.0021404565777629614,
                        "pitch": 0.4017995297908783,
                        "yaw": 9.287675857543945
                    }
                },
                "velocity": {
                    "x": 7.971530437469482,
                    "y": 1.3014026880264282,
                    "z": 0.056532517075538635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2402801513671875,
                "transform": {
                    "location": {
                        "x": 2890.682861328125,
                        "y": 4245.93505859375,
                        "z": 360.4403381347656
                    },
                    "rotation": {
                        "roll": -0.0029602102003991604,
                        "pitch": -0.37572869658470154,
                        "yaw": -170.4015655517578
                    }
                },
                "velocity": {
                    "x": -1.2235984802246094,
                    "y": -0.20256969332695007,
                    "z": -0.008202523924410343
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00085144501645118,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": 0.0008681445615366101,
                        "pitch": -0.3909258544445038,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": -5.266889729682589e-06,
                    "y": 2.1756477508461103e-05,
                    "z": -0.0008511507185176015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.020606994628906,
                "transform": {
                    "location": {
                        "x": 2908.519287109375,
                        "y": 4252.08740234375,
                        "z": 360.5721740722656
                    },
                    "rotation": {
                        "roll": 0.0007295330869965255,
                        "pitch": -0.5762903690338135,
                        "yaw": -170.8267364501953
                    }
                },
                "velocity": {
                    "x": -8.904765129089355,
                    "y": -1.4396018981933594,
                    "z": -0.06363018602132797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.280921936035156,
                "transform": {
                    "location": {
                        "x": 2888.067626953125,
                        "y": 4248.77685546875,
                        "z": 360.4320983886719
                    },
                    "rotation": {
                        "roll": -0.0007629404426552355,
                        "pitch": -0.2988617420196533,
                        "yaw": -170.87991333007812
                    }
                },
                "velocity": {
                    "x": -5.213435173034668,
                    "y": -0.84089195728302,
                    "z": -0.03359160199761391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6058166027069092,
        "expert_target_speed": 0,
        "target_point": [
            44.508958515258556,
            10.831640546398305
        ],
        "target_point_next": [
            85.68563729325584,
            19.106946582898985
        ]
    },
    "300": {
        "acceleration": [
            -2.0207881927490234,
            -0.12205064296722412,
            0.07906220853328705
        ],
        "angular_velocity": [
            -3.155506134033203,
            -0.1384364366531372,
            1.0970752239227295
        ],
        "forward_vector": [
            -0.9993049502372742,
            0.03725513070821762,
            -0.0013139244401827455
        ],
        "right_vector": [
            -0.03722991421818733,
            -0.9991829991340637,
            -0.015721801668405533
        ],
        "location": [
            2933.268798828125,
            4255.10546875,
            360.7391052246094
        ],
        "rotation": [
            0.9008307456970215,
            -0.07528234273195267,
            177.8649444580078
        ],
        "velocity": [
            -7.685314178466797,
            0.207328662276268,
            -0.030899442732334137
        ],
        "speed": 7.688110248685566,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.0341854095459,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2906.444091796875,
                4251.75146484375,
                360.5575256347656
            ],
            "velocity": [
                -8.057618141174316,
                -1.3045164346694946,
                -0.05754592642188072
            ],
            "speed_kmh": 29.385855281606798,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.96006441116333,
                "transform": {
                    "location": {
                        "x": 2910.976806640625,
                        "y": 4259.27685546875,
                        "z": 360.597412109375
                    },
                    "rotation": {
                        "roll": 0.001691496348939836,
                        "pitch": 0.39742136001586914,
                        "yaw": 9.43242073059082
                    }
                },
                "velocity": {
                    "x": 7.8558878898620605,
                    "y": 1.2823846340179443,
                    "z": 0.05602449178695679
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996674537658691,
                "transform": {
                    "location": {
                        "x": 2949.40625,
                        "y": 4262.19775390625,
                        "z": 360.88238525390625
                    },
                    "rotation": {
                        "roll": 0.0013683225261047482,
                        "pitch": 0.43994611501693726,
                        "yaw": 9.192362785339355
                    }
                },
                "velocity": {
                    "x": 7.893744468688965,
                    "y": 1.2774633169174194,
                    "z": 0.060700032860040665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035466194152832,
                "transform": {
                    "location": {
                        "x": 2951.226806640625,
                        "y": 4265.78369140625,
                        "z": 360.8976745605469
                    },
                    "rotation": {
                        "roll": -0.0010070768184959888,
                        "pitch": 0.44833359122276306,
                        "yaw": 9.188699722290039
                    }
                },
                "velocity": {
                    "x": 7.93197774887085,
                    "y": 1.2839412689208984,
                    "z": 0.06281652301549911
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.666153907775879,
                "transform": {
                    "location": {
                        "x": 2969.951904296875,
                        "y": 4258.73583984375,
                        "z": 361.0314636230469
                    },
                    "rotation": {
                        "roll": -0.00012206724204588681,
                        "pitch": -0.4806472063064575,
                        "yaw": -170.77545166015625
                    }
                },
                "velocity": {
                    "x": -9.540589332580566,
                    "y": -1.5508179664611816,
                    "z": -0.08156013488769531
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.140714645385742,
                "transform": {
                    "location": {
                        "x": 2959.73095703125,
                        "y": 4260.3740234375,
                        "z": 360.94964599609375
                    },
                    "rotation": {
                        "roll": -0.0008850122103467584,
                        "pitch": -0.46570277214050293,
                        "yaw": -170.80747985839844
                    }
                },
                "velocity": {
                    "x": -11.984259605407715,
                    "y": -1.9403090476989746,
                    "z": -0.09832755476236343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98450231552124,
                "transform": {
                    "location": {
                        "x": 2992.27587890625,
                        "y": 4272.42626953125,
                        "z": 361.24945068359375
                    },
                    "rotation": {
                        "roll": -0.0015258818166330457,
                        "pitch": 0.5290390849113464,
                        "yaw": 9.184568405151367
                    }
                },
                "velocity": {
                    "x": 7.88178014755249,
                    "y": 1.2746341228485107,
                    "z": 0.07159247994422913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052007675170898,
                "transform": {
                    "location": {
                        "x": 2992.8486328125,
                        "y": 4269.2275390625,
                        "z": 361.26123046875
                    },
                    "rotation": {
                        "roll": 5.3613304771715775e-05,
                        "pitch": 0.5336699485778809,
                        "yaw": 9.19184398651123
                    }
                },
                "velocity": {
                    "x": 7.948266983032227,
                    "y": 1.2861425876617432,
                    "z": 0.07561853528022766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.426109790802002,
                "transform": {
                    "location": {
                        "x": 2950.69970703125,
                        "y": 4255.619140625,
                        "z": 360.8691711425781
                    },
                    "rotation": {
                        "roll": 0.000528781907632947,
                        "pitch": -0.395146906375885,
                        "yaw": -170.8215789794922
                    }
                },
                "velocity": {
                    "x": -7.330702781677246,
                    "y": -1.1851474046707153,
                    "z": -0.057659734040498734
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.02942735329270363,
                "transform": {
                    "location": {
                        "x": 2937.435302734375,
                        "y": 4256.94287109375,
                        "z": 360.7874450683594
                    },
                    "rotation": {
                        "roll": -0.42120349407196045,
                        "pitch": -1.2483536005020142,
                        "yaw": -175.92564392089844
                    }
                },
                "velocity": {
                    "x": 0.010991091839969158,
                    "y": -0.0233598705381155,
                    "z": -0.014123789966106415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.703507900238037,
                "transform": {
                    "location": {
                        "x": 2865.21044921875,
                        "y": 4248.47216796875,
                        "z": 360.2781677246094
                    },
                    "rotation": {
                        "roll": -0.0020751922857016325,
                        "pitch": 0.36501210927963257,
                        "yaw": 9.206049919128418
                    }
                },
                "velocity": {
                    "x": 6.613898277282715,
                    "y": 1.0922636985778809,
                    "z": -0.018230581656098366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5841803550720215,
                "transform": {
                    "location": {
                        "x": 2869.25244140625,
                        "y": 4252.4296875,
                        "z": 360.3025817871094
                    },
                    "rotation": {
                        "roll": -0.0006408661720342934,
                        "pitch": 0.4010550379753113,
                        "yaw": 9.596632957458496
                    }
                },
                "velocity": {
                    "x": 6.488083839416504,
                    "y": 1.1199661493301392,
                    "z": 0.043330974876880646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.936978340148926,
                "transform": {
                    "location": {
                        "x": 2905.287353515625,
                        "y": 4255.0537109375,
                        "z": 360.5886535644531
                    },
                    "rotation": {
                        "roll": 0.0012333978665992618,
                        "pitch": 0.3894232213497162,
                        "yaw": 9.236031532287598
                    }
                },
                "velocity": {
                    "x": 7.833928108215332,
                    "y": 1.2735728025436401,
                    "z": 0.05664868280291557
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0084831714630127,
                "transform": {
                    "location": {
                        "x": 2890.280029296875,
                        "y": 4245.86767578125,
                        "z": 360.43756103515625
                    },
                    "rotation": {
                        "roll": -0.003021243028342724,
                        "pitch": -0.37118661403656006,
                        "yaw": -170.4695281982422
                    }
                },
                "velocity": {
                    "x": -1.9815549850463867,
                    "y": -0.32748880982398987,
                    "z": -0.013972959481179714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001519424025900662,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": 0.0008681445615366101,
                        "pitch": -0.3909258544445038,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": -3.6679207937595493e-07,
                    "y": -1.165913431577792e-06,
                    "z": -0.0015194235602393746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.162736892700195,
                "transform": {
                    "location": {
                        "x": 2906.444091796875,
                        "y": 4251.75146484375,
                        "z": 360.5575256347656
                    },
                    "rotation": {
                        "roll": 0.001165500609204173,
                        "pitch": -0.5461419224739075,
                        "yaw": -170.79640197753906
                    }
                },
                "velocity": {
                    "x": -8.057618141174316,
                    "y": -1.3045164346694946,
                    "z": -0.05754592642188072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.573618412017822,
                "transform": {
                    "location": {
                        "x": 2886.732177734375,
                        "y": 4248.56201171875,
                        "z": 360.42291259765625
                    },
                    "rotation": {
                        "roll": 0.0012760622194036841,
                        "pitch": -0.3141477108001709,
                        "yaw": -170.885498046875
                    }
                },
                "velocity": {
                    "x": -5.50234842300415,
                    "y": -0.8877016305923462,
                    "z": -0.037030644714832306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3000638484954834,
        "expert_target_speed": 0,
        "target_point": [
            42.64501779249503,
            10.762216582192867
        ],
        "target_point_next": [
            83.8269875690996,
            19.011151695463166
        ]
    },
    "305": {
        "acceleration": [
            -2.296295166015625,
            -0.9807438254356384,
            -0.07054261863231659
        ],
        "angular_velocity": [
            -2.108015775680542,
            -0.08753760904073715,
            8.619170188903809
        ],
        "forward_vector": [
            -0.9998931288719177,
            0.01442655734717846,
            -0.002364871557801962
        ],
        "right_vector": [
            -0.014416588470339775,
            -0.9998872876167297,
            -0.004179110750555992
        ],
        "location": [
            2931.278076171875,
            4255.13720703125,
            360.72967529296875
        ],
        "rotation": [
            0.239446759223938,
            -0.1354972869157791,
            179.1733856201172
        ],
        "velocity": [
            -8.232582092285156,
            0.03409050777554512,
            -0.04651731997728348
        ],
        "speed": 8.232652675106282,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.17977523803711,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2904.355224609375,
                4251.41357421875,
                360.5431213378906
            ],
            "velocity": [
                -8.7634859085083,
                -1.4190858602523804,
                -0.06098981574177742
            ],
            "speed_kmh": 31.960257786460474,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.120475769042969,
                "transform": {
                    "location": {
                        "x": 2912.96435546875,
                        "y": 4259.60107421875,
                        "z": 360.6116638183594
                    },
                    "rotation": {
                        "roll": 0.0024212761782109737,
                        "pitch": 0.4170786440372467,
                        "yaw": 9.400774955749512
                    }
                },
                "velocity": {
                    "x": 8.014684677124023,
                    "y": 1.305261254310608,
                    "z": 0.05698954313993454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055901527404785,
                "transform": {
                    "location": {
                        "x": 2951.38720703125,
                        "y": 4262.5185546875,
                        "z": 360.89788818359375
                    },
                    "rotation": {
                        "roll": 0.0009444581810384989,
                        "pitch": 0.4399597942829132,
                        "yaw": 9.192557334899902
                    }
                },
                "velocity": {
                    "x": 7.952221393585205,
                    "y": 1.2868555784225464,
                    "z": 0.061049334704875946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032883644104004,
                "transform": {
                    "location": {
                        "x": 2953.209228515625,
                        "y": 4266.10400390625,
                        "z": 360.9133605957031
                    },
                    "rotation": {
                        "roll": -0.00048828075523488224,
                        "pitch": 0.45832616090774536,
                        "yaw": 9.193137168884277
                    }
                },
                "velocity": {
                    "x": 7.929452896118164,
                    "y": 1.2832889556884766,
                    "z": 0.0645042210817337
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.861128807067871,
                "transform": {
                    "location": {
                        "x": 2967.669921875,
                        "y": 4258.36572265625,
                        "z": 361.01214599609375
                    },
                    "rotation": {
                        "roll": 0.0006119389436207712,
                        "pitch": -0.5010694861412048,
                        "yaw": -170.79002380371094
                    }
                },
                "velocity": {
                    "x": -8.74654483795166,
                    "y": -1.4184277057647705,
                    "z": -0.07493238896131516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.101312637329102,
                "transform": {
                    "location": {
                        "x": 2956.858642578125,
                        "y": 4259.9091796875,
                        "z": 360.926513671875
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": -0.4823889136314392,
                        "yaw": -170.7946014404297
                    }
                },
                "velocity": {
                    "x": -10.958234786987305,
                    "y": -1.7743334770202637,
                    "z": -0.08933671563863754
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.016441345214844,
                "transform": {
                    "location": {
                        "x": 2994.250244140625,
                        "y": 4272.74560546875,
                        "z": 361.26788330078125
                    },
                    "rotation": {
                        "roll": 0.0012699624057859182,
                        "pitch": 0.5291962027549744,
                        "yaw": 9.187498092651367
                    }
                },
                "velocity": {
                    "x": 7.913295269012451,
                    "y": 1.2798010110855103,
                    "z": 0.07211456447839737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081523895263672,
                "transform": {
                    "location": {
                        "x": 2994.839599609375,
                        "y": 4269.5498046875,
                        "z": 361.27984619140625
                    },
                    "rotation": {
                        "roll": 0.0003535810101311654,
                        "pitch": 0.5338270664215088,
                        "yaw": 9.191781044006348
                    }
                },
                "velocity": {
                    "x": 7.977402210235596,
                    "y": 1.290883183479309,
                    "z": 0.07553878426551819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.403749465942383,
                "transform": {
                    "location": {
                        "x": 2948.716064453125,
                        "y": 4255.298828125,
                        "z": 360.85369873046875
                    },
                    "rotation": {
                        "roll": 0.0002318678016308695,
                        "pitch": -0.3726482689380646,
                        "yaw": -170.79148864746094
                    }
                },
                "velocity": {
                    "x": -8.295607566833496,
                    "y": -1.342322826385498,
                    "z": -0.06379254162311554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009317017160356045,
                "transform": {
                    "location": {
                        "x": 2937.431884765625,
                        "y": 4256.94287109375,
                        "z": 360.7853088378906
                    },
                    "rotation": {
                        "roll": -0.0704040452837944,
                        "pitch": -0.6458079814910889,
                        "yaw": -175.93215942382812
                    }
                },
                "velocity": {
                    "x": 0.00506537314504385,
                    "y": -0.005461107473820448,
                    "z": -0.005596882663667202
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.890708923339844,
                "transform": {
                    "location": {
                        "x": 2866.88671875,
                        "y": 4248.7548828125,
                        "z": 360.2805480957031
                    },
                    "rotation": {
                        "roll": -0.002105714986100793,
                        "pitch": 0.3914995789527893,
                        "yaw": 9.605513572692871
                    }
                },
                "velocity": {
                    "x": 6.787487030029297,
                    "y": 1.1876832246780396,
                    "z": 0.036031100898981094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.780065059661865,
                "transform": {
                    "location": {
                        "x": 2870.899658203125,
                        "y": 4252.71435546875,
                        "z": 360.3141174316406
                    },
                    "rotation": {
                        "roll": 0.0032072211615741253,
                        "pitch": 0.4061708450317383,
                        "yaw": 9.832857131958008
                    }
                },
                "velocity": {
                    "x": 6.67854642868042,
                    "y": 1.1678943634033203,
                    "z": 0.048223067075014114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.08381175994873,
                "transform": {
                    "location": {
                        "x": 2907.26611328125,
                        "y": 4255.375,
                        "z": 360.60247802734375
                    },
                    "rotation": {
                        "roll": 0.0014120778068900108,
                        "pitch": 0.4109383225440979,
                        "yaw": 9.245981216430664
                    }
                },
                "velocity": {
                    "x": 7.978902816772461,
                    "y": 1.2968761920928955,
                    "z": 0.05680195614695549
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.004740888252854347,
                "transform": {
                    "location": {
                        "x": 2889.896728515625,
                        "y": 4245.8037109375,
                        "z": 360.4353332519531
                    },
                    "rotation": {
                        "roll": -0.0008544941083528101,
                        "pitch": -0.42452356219291687,
                        "yaw": -170.5902557373047
                    }
                },
                "velocity": {
                    "x": -0.004723453428596258,
                    "y": -0.00038829565164633095,
                    "z": 0.00011930465552723035
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007534849573858082,
                "transform": {
                    "location": {
                        "x": 2879.6337890625,
                        "y": 4244.22119140625,
                        "z": 360.37322998046875
                    },
                    "rotation": {
                        "roll": 0.001640437520109117,
                        "pitch": -0.39114442467689514,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -7.45430588722229e-06,
                    "y": -6.5574049585848115e-06,
                    "z": -0.0007534195319749415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.877849578857422,
                "transform": {
                    "location": {
                        "x": 2904.355224609375,
                        "y": 4251.41357421875,
                        "z": 360.5431213378906
                    },
                    "rotation": {
                        "roll": -0.0006408707122318447,
                        "pitch": -0.3492138981819153,
                        "yaw": -170.81285095214844
                    }
                },
                "velocity": {
                    "x": -8.7634859085083,
                    "y": -1.4190858602523804,
                    "z": -0.06098981574177742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.685173034667969,
                "transform": {
                    "location": {
                        "x": 2885.12744140625,
                        "y": 4248.30224609375,
                        "z": 360.4119567871094
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.029205886647105217,
                        "yaw": -170.8385772705078
                    }
                },
                "velocity": {
                    "x": -7.5865092277526855,
                    "y": -1.226388931274414,
                    "z": -0.0523095466196537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1507110744714737,
        "expert_target_speed": 10.0,
        "target_point": [
            40.888672248932586,
            9.788660100430787
        ],
        "target_point_next": [
            82.2482624784638,
            17.095086123417833
        ]
    },
    "310": {
        "acceleration": [
            -2.4243927001953125,
            -1.2115325927734375,
            -0.05224950611591339
        ],
        "angular_velocity": [
            -0.8937578201293945,
            0.0014230405213311315,
            5.245577335357666
        ],
        "forward_vector": [
            -0.9998693466186523,
            -0.015968699008226395,
            -0.0025235384237021208
        ],
        "right_vector": [
            0.015963232144713402,
            -0.9998701810836792,
            0.0021715329494327307
        ],
        "location": [
            2929.143798828125,
            4255.1123046875,
            360.71612548828125
        ],
        "rotation": [
            -0.1244201585650444,
            -0.14458826184272766,
            -179.08502197265625
        ],
        "velocity": [
            -8.825796127319336,
            -0.25172853469848633,
            -0.060476671904325485
        ],
        "speed": 8.829385286427726,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.323760986328125,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2902.1240234375,
                4251.05224609375,
                360.5274658203125
            ],
            "velocity": [
                -8.936713218688965,
                -1.4478216171264648,
                -0.06162988394498825
            ],
            "speed_kmh": 32.59239453685356,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.994804859161377,
                "transform": {
                    "location": {
                        "x": 2914.952392578125,
                        "y": 4259.92431640625,
                        "z": 360.6258850097656
                    },
                    "rotation": {
                        "roll": 0.0033685541711747646,
                        "pitch": 0.40383490920066833,
                        "yaw": 9.393838882446289
                    }
                },
                "velocity": {
                    "x": 7.891157150268555,
                    "y": 1.28193199634552,
                    "z": 0.05649711564183235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9963531494140625,
                "transform": {
                    "location": {
                        "x": 2953.367431640625,
                        "y": 4262.8388671875,
                        "z": 360.9134216308594
                    },
                    "rotation": {
                        "roll": 0.00010794229456223547,
                        "pitch": 0.4480467140674591,
                        "yaw": 9.192179679870605
                    }
                },
                "velocity": {
                    "x": 7.893412113189697,
                    "y": 1.277334213256836,
                    "z": 0.06422662734985352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040811538696289,
                "transform": {
                    "location": {
                        "x": 2955.193115234375,
                        "y": 4266.4248046875,
                        "z": 360.9293212890625
                    },
                    "rotation": {
                        "roll": 0.00037859746953472495,
                        "pitch": 0.46092846989631653,
                        "yaw": 9.19731330871582
                    }
                },
                "velocity": {
                    "x": 7.937202453613281,
                    "y": 1.2850795984268188,
                    "z": 0.0635751485824585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.526196002960205,
                "transform": {
                    "location": {
                        "x": 2965.682861328125,
                        "y": 4258.0419921875,
                        "z": 360.9954528808594
                    },
                    "rotation": {
                        "roll": 0.0018387216841802,
                        "pitch": -0.5241076946258545,
                        "yaw": -170.99208068847656
                    }
                },
                "velocity": {
                    "x": -7.429538249969482,
                    "y": -1.2006443738937378,
                    "z": -0.06355468183755875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.9104585647583,
                "transform": {
                    "location": {
                        "x": 2954.2724609375,
                        "y": 4259.490234375,
                        "z": 360.9058837890625
                    },
                    "rotation": {
                        "roll": -0.00033569210791029036,
                        "pitch": -0.49120667576789856,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -9.782781600952148,
                    "y": -1.5837632417678833,
                    "z": -0.077933669090271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984549522399902,
                "transform": {
                    "location": {
                        "x": 2996.224609375,
                        "y": 4273.06494140625,
                        "z": 361.28631591796875
                    },
                    "rotation": {
                        "roll": 0.0018138493178412318,
                        "pitch": 0.5292371511459351,
                        "yaw": 9.188913345336914
                    }
                },
                "velocity": {
                    "x": 7.8816657066345215,
                    "y": 1.2755857706069946,
                    "z": 0.07252029329538345
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05174732208252,
                "transform": {
                    "location": {
                        "x": 2996.830322265625,
                        "y": 4269.87158203125,
                        "z": 361.2984313964844
                    },
                    "rotation": {
                        "roll": 0.00043845843174494803,
                        "pitch": 0.5334787368774414,
                        "yaw": 9.188989639282227
                    }
                },
                "velocity": {
                    "x": 7.948067665100098,
                    "y": 1.2857511043548584,
                    "z": 0.0754355788230896
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.319873332977295,
                "transform": {
                    "location": {
                        "x": 2946.7587890625,
                        "y": 4254.9814453125,
                        "z": 360.8394470214844
                    },
                    "rotation": {
                        "roll": -0.00027466073515824974,
                        "pitch": -0.46658384799957275,
                        "yaw": -170.82327270507812
                    }
                },
                "velocity": {
                    "x": -7.225558280944824,
                    "y": -1.1699408292770386,
                    "z": -0.0556083619594574
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002353205345571041,
                "transform": {
                    "location": {
                        "x": 2937.4306640625,
                        "y": 4256.94287109375,
                        "z": 360.7847900390625
                    },
                    "rotation": {
                        "roll": 0.013030178844928741,
                        "pitch": -0.4713445007801056,
                        "yaw": -175.93247985839844
                    }
                },
                "velocity": {
                    "x": 0.0011280433973297477,
                    "y": -0.0015094440896064043,
                    "z": -0.0014094936195760965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.640598297119141,
                "transform": {
                    "location": {
                        "x": 2868.552734375,
                        "y": 4249.0400390625,
                        "z": 360.29156494140625
                    },
                    "rotation": {
                        "roll": 0.004491141997277737,
                        "pitch": 0.4064440429210663,
                        "yaw": 9.838265419006348
                    }
                },
                "velocity": {
                    "x": 6.544473171234131,
                    "y": 1.1247919797897339,
                    "z": 0.047545697540044785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.893970012664795,
                "transform": {
                    "location": {
                        "x": 2872.55078125,
                        "y": 4252.99951171875,
                        "z": 360.3258972167969
                    },
                    "rotation": {
                        "roll": 0.006377683952450752,
                        "pitch": 0.40378710627555847,
                        "yaw": 9.789469718933105
                    }
                },
                "velocity": {
                    "x": 6.796107769012451,
                    "y": 1.1564583778381348,
                    "z": 0.048441942781209946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01173210144043,
                "transform": {
                    "location": {
                        "x": 2909.2548828125,
                        "y": 4255.6982421875,
                        "z": 360.6166687011719
                    },
                    "rotation": {
                        "roll": 0.0010341487359255552,
                        "pitch": 0.40130773186683655,
                        "yaw": 9.203182220458984
                    }
                },
                "velocity": {
                    "x": 7.908478260040283,
                    "y": 1.2808787822723389,
                    "z": 0.05633922293782234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007011661073192954,
                "transform": {
                    "location": {
                        "x": 2889.865234375,
                        "y": 4245.79833984375,
                        "z": 360.43499755859375
                    },
                    "rotation": {
                        "roll": -0.0006713899201713502,
                        "pitch": -0.4081106185913086,
                        "yaw": -170.6056365966797
                    }
                },
                "velocity": {
                    "x": 1.92643692571437e-05,
                    "y": -4.797679139301181e-05,
                    "z": 0.0006992574781179428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7583662271499634,
                "transform": {
                    "location": {
                        "x": 2879.60595703125,
                        "y": 4244.21630859375,
                        "z": 360.37335205078125
                    },
                    "rotation": {
                        "roll": 0.0034135873429477215,
                        "pitch": -0.4396933913230896,
                        "yaw": -170.80593872070312
                    }
                },
                "velocity": {
                    "x": -0.7466374039649963,
                    "y": -0.13272587954998016,
                    "z": -0.005978708155453205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.05344295501709,
                "transform": {
                    "location": {
                        "x": 2902.1240234375,
                        "y": 4251.05224609375,
                        "z": 360.5274658203125
                    },
                    "rotation": {
                        "roll": -0.0003967292723245919,
                        "pitch": -0.3641037046909332,
                        "yaw": -170.781005859375
                    }
                },
                "velocity": {
                    "x": -8.936713218688965,
                    "y": -1.4478216171264648,
                    "z": -0.06162988394498825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.006672859191895,
                "transform": {
                    "location": {
                        "x": 2883.037841796875,
                        "y": 4247.96435546875,
                        "z": 360.3974914550781
                    },
                    "rotation": {
                        "roll": -0.00070190365659073,
                        "pitch": -0.09032924473285675,
                        "yaw": -170.801513671875
                    }
                },
                "velocity": {
                    "x": -8.890652656555176,
                    "y": -1.4397026300430298,
                    "z": -0.060849495232105255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0198320671916008,
        "expert_target_speed": 10.0,
        "target_point": [
            39.03287621154262,
            8.550641061235167
        ],
        "target_point_next": [
            80.595416220603,
            14.596700371180077
        ]
    },
    "315": {
        "acceleration": [
            -2.4372100830078125,
            -1.4884817600250244,
            -0.02504408359527588
        ],
        "angular_velocity": [
            -0.6953810453414917,
            0.003567818086594343,
            10.33614730834961
        ],
        "forward_vector": [
            -0.998709499835968,
            -0.050729189068078995,
            -0.0024234033189713955
        ],
        "right_vector": [
            0.05071520432829857,
            -0.998697817325592,
            0.005519089289009571
        ],
        "location": [
            2926.857177734375,
            4255.01220703125,
            360.6999816894531
        ],
        "rotation": [
            -0.31622305512428284,
            -0.13885091245174408,
            -177.09217834472656
        ],
        "velocity": [
            -9.438806533813477,
            -0.5948769450187683,
            -0.067232146859169
        ],
        "speed": 9.457533894333915,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.353622436523438,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2899.848876953125,
                4250.68359375,
                360.5116271972656
            ],
            "velocity": [
                -9.07402229309082,
                -1.4690907001495361,
                -0.06372790038585663
            ],
            "speed_kmh": 33.09263051204258,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.081216812133789,
                "transform": {
                    "location": {
                        "x": 2916.934814453125,
                        "y": 4260.24609375,
                        "z": 360.64013671875
                    },
                    "rotation": {
                        "roll": 0.0015921690501272678,
                        "pitch": 0.41321277618408203,
                        "yaw": 9.368135452270508
                    }
                },
                "velocity": {
                    "x": 7.976528644561768,
                    "y": 1.2952810525894165,
                    "z": 0.05752663314342499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055960655212402,
                "transform": {
                    "location": {
                        "x": 2955.3486328125,
                        "y": 4263.1591796875,
                        "z": 360.9294128417969
                    },
                    "rotation": {
                        "roll": -0.00012206677638459951,
                        "pitch": 0.45369529724121094,
                        "yaw": 9.18702220916748
                    }
                },
                "velocity": {
                    "x": 7.952657699584961,
                    "y": 1.2843518257141113,
                    "z": 0.06458824127912521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033103942871094,
                "transform": {
                    "location": {
                        "x": 2957.17626953125,
                        "y": 4266.74609375,
                        "z": 360.9454345703125
                    },
                    "rotation": {
                        "roll": -0.0011291524861007929,
                        "pitch": 0.46316877007484436,
                        "yaw": 9.201990127563477
                    }
                },
                "velocity": {
                    "x": 7.92946720123291,
                    "y": 1.284610390663147,
                    "z": 0.06391202658414841
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.86830472946167,
                "transform": {
                    "location": {
                        "x": 2963.802978515625,
                        "y": 4257.73876953125,
                        "z": 360.9791564941406
                    },
                    "rotation": {
                        "roll": 0.001951832789927721,
                        "pitch": -0.471890926361084,
                        "yaw": -170.95858764648438
                    }
                },
                "velocity": {
                    "x": -7.7676262855529785,
                    "y": -1.2530122995376587,
                    "z": -0.06452396512031555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.855047702789307,
                "transform": {
                    "location": {
                        "x": 2952.0166015625,
                        "y": 4259.126953125,
                        "z": 360.88818359375
                    },
                    "rotation": {
                        "roll": 0.00018263123638462275,
                        "pitch": -0.5038766860961914,
                        "yaw": -170.59906005859375
                    }
                },
                "velocity": {
                    "x": -7.7540812492370605,
                    "y": -1.2539035081863403,
                    "z": -0.06102858483791351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2998.272216796875,
                        "y": 4273.3369140625,
                        "z": 361.3097229003906
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2998.882080078125,
                        "y": 4270.14111328125,
                        "z": 361.3150634765625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.363301753997803,
                "transform": {
                    "location": {
                        "x": 2945.224609375,
                        "y": 4254.73388671875,
                        "z": 360.82867431640625
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -0.5872800946235657,
                        "yaw": -170.66412353515625
                    }
                },
                "velocity": {
                    "x": -4.306078910827637,
                    "y": -0.7036389112472534,
                    "z": -0.03123508393764496
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.4306640625,
                        "y": 4256.94287109375,
                        "z": 360.7847595214844
                    },
                    "rotation": {
                        "roll": 0.030671630054712296,
                        "pitch": -0.4382317364215851,
                        "yaw": -175.93255615234375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.629001617431641,
                "transform": {
                    "location": {
                        "x": 2870.2109375,
                        "y": 4249.32470703125,
                        "z": 360.3036193847656
                    },
                    "rotation": {
                        "roll": 0.005568539258092642,
                        "pitch": 0.40737977623939514,
                        "yaw": 9.81998062133789
                    }
                },
                "velocity": {
                    "x": 6.533575057983398,
                    "y": 1.1197417974472046,
                    "z": 0.047281015664339066
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.125563621520996,
                "transform": {
                    "location": {
                        "x": 2874.3955078125,
                        "y": 4253.3125,
                        "z": 360.3387756347656
                    },
                    "rotation": {
                        "roll": 0.0033349022269248962,
                        "pitch": 0.4192369878292084,
                        "yaw": 9.62865924835205
                    }
                },
                "velocity": {
                    "x": 8.012428283691406,
                    "y": 1.3500460386276245,
                    "z": 0.0561923012137413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008600234985352,
                "transform": {
                    "location": {
                        "x": 2911.227783203125,
                        "y": 4256.0185546875,
                        "z": 360.6307067871094
                    },
                    "rotation": {
                        "roll": 0.0007916045724414289,
                        "pitch": 0.4045315980911255,
                        "yaw": 9.225144386291504
                    }
                },
                "velocity": {
                    "x": 7.905065536499023,
                    "y": 1.2823551893234253,
                    "z": 0.05632989853620529
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.30141526460647583,
                "transform": {
                    "location": {
                        "x": 2889.842041015625,
                        "y": 4245.79443359375,
                        "z": 360.43463134765625
                    },
                    "rotation": {
                        "roll": -0.00189208856318146,
                        "pitch": -0.38626083731651306,
                        "yaw": -170.6051788330078
                    }
                },
                "velocity": {
                    "x": -0.29725468158721924,
                    "y": -0.04986194148659706,
                    "z": -0.0021447371691465378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9597028493881226,
                "transform": {
                    "location": {
                        "x": 2879.247802734375,
                        "y": 4244.15380859375,
                        "z": 360.3714904785156
                    },
                    "rotation": {
                        "roll": 0.0038100280798971653,
                        "pitch": -0.5144907832145691,
                        "yaw": -170.6896209716797
                    }
                },
                "velocity": {
                    "x": -1.9298218488693237,
                    "y": -0.34063345193862915,
                    "z": -0.013833512552082539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.192397117614746,
                "transform": {
                    "location": {
                        "x": 2899.848876953125,
                        "y": 4250.68359375,
                        "z": 360.5116271972656
                    },
                    "rotation": {
                        "roll": 0.0011018117656931281,
                        "pitch": -0.3755101263523102,
                        "yaw": -170.8098602294922
                    }
                },
                "velocity": {
                    "x": -9.07402229309082,
                    "y": -1.4690907001495361,
                    "z": -0.06372790038585663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.017254829406738,
                "transform": {
                    "location": {
                        "x": 2880.725830078125,
                        "y": 4247.59033203125,
                        "z": 360.3815612792969
                    },
                    "rotation": {
                        "roll": 0.0012266570702195168,
                        "pitch": -0.15591271221637726,
                        "yaw": -170.82894897460938
                    }
                },
                "velocity": {
                    "x": -9.888481140136719,
                    "y": -1.59955894947052,
                    "z": -0.06886999309062958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11783535033464432,
        "expert_target_speed": 10.0,
        "target_point": [
            37.01786098573991,
            7.204134447340881
        ],
        "target_point_next": [
            78.76551393496352,
            11.801202906184866
        ]
    },
    "320": {
        "acceleration": [
            -0.6183815002441406,
            -1.6485679149627686,
            -0.03080904483795166
        ],
        "angular_velocity": [
            -0.3785838186740875,
            -0.4888318181037903,
            7.273801803588867
        ],
        "forward_vector": [
            -0.9960561990737915,
            -0.08868742734193802,
            -0.002569553442299366
        ],
        "right_vector": [
            0.08866486698389053,
            -0.9960305094718933,
            0.00785781629383564
        ],
        "location": [
            2924.421875,
            4254.8173828125,
            360.6826171875
        ],
        "rotation": [
            -0.450225830078125,
            -0.14722472429275513,
            -174.91188049316406
        ],
        "velocity": [
            -9.94297981262207,
            -1.008039951324463,
            -0.0722242072224617
        ],
        "speed": 9.99394777341148,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.216474533081055,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2897.580810546875,
                4250.31640625,
                360.4958190917969
            ],
            "velocity": [
                -9.286001205444336,
                -1.5047165155410767,
                -0.06409391015768051
            ],
            "speed_kmh": 33.86643401346408,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019248008728027,
                "transform": {
                    "location": {
                        "x": 2918.9228515625,
                        "y": 4260.56884765625,
                        "z": 360.6545715332031
                    },
                    "rotation": {
                        "roll": 0.0030125018674880266,
                        "pitch": 0.4133971631526947,
                        "yaw": 9.379223823547363
                    }
                },
                "velocity": {
                    "x": 7.915513515472412,
                    "y": 1.284438133239746,
                    "z": 0.05652691796422005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99618673324585,
                "transform": {
                    "location": {
                        "x": 2957.3291015625,
                        "y": 4263.47998046875,
                        "z": 360.94537353515625
                    },
                    "rotation": {
                        "roll": -0.0006713873008266091,
                        "pitch": 0.4540846049785614,
                        "yaw": 9.185199737548828
                    }
                },
                "velocity": {
                    "x": 7.893431186676025,
                    "y": 1.276166558265686,
                    "z": 0.0643843412399292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038196563720703,
                "transform": {
                    "location": {
                        "x": 2959.159423828125,
                        "y": 4267.06640625,
                        "z": 360.9615783691406
                    },
                    "rotation": {
                        "roll": 0.00045345607213675976,
                        "pitch": 0.47503963112831116,
                        "yaw": 9.197561264038086
                    }
                },
                "velocity": {
                    "x": 7.934607982635498,
                    "y": 1.2847340106964111,
                    "z": 0.06370103359222412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.276036262512207,
                "transform": {
                    "location": {
                        "x": 2961.76953125,
                        "y": 4257.41162109375,
                        "z": 360.9621276855469
                    },
                    "rotation": {
                        "roll": 0.0006753958878107369,
                        "pitch": -0.45165306329727173,
                        "yaw": -170.89149475097656
                    }
                },
                "velocity": {
                    "x": -8.170023918151855,
                    "y": -1.3186817169189453,
                    "z": -0.0675642117857933
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3589391708374023,
                "transform": {
                    "location": {
                        "x": 2950.7412109375,
                        "y": 4258.93505859375,
                        "z": 360.87896728515625
                    },
                    "rotation": {
                        "roll": -0.02124023623764515,
                        "pitch": -0.6083922386169434,
                        "yaw": -168.891845703125
                    }
                },
                "velocity": {
                    "x": -2.3246665000915527,
                    "y": -0.4002131223678589,
                    "z": -0.018677715212106705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26569,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3000.33251953125,
                        "y": 4273.63818359375,
                        "z": 361.33123779296875
                    },
                    "rotation": {
                        "roll": 3.335197007459101e-09,
                        "pitch": 0.5320648550987244,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26568,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3000.943115234375,
                        "y": 4270.4423828125,
                        "z": 361.3330383300781
                    },
                    "rotation": {
                        "roll": 3.335197007459101e-09,
                        "pitch": 0.5320648550987244,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5187072157859802,
                "transform": {
                    "location": {
                        "x": 2944.888671875,
                        "y": 4254.6796875,
                        "z": 360.8265686035156
                    },
                    "rotation": {
                        "roll": -0.003021238138899207,
                        "pitch": -0.6812703609466553,
                        "yaw": -170.58645629882812
                    }
                },
                "velocity": {
                    "x": -0.5119839906692505,
                    "y": -0.08310239762067795,
                    "z": -0.0048522851429879665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.09440609067678452,
                "transform": {
                    "location": {
                        "x": 2937.42333984375,
                        "y": 4256.94189453125,
                        "z": 360.78466796875
                    },
                    "rotation": {
                        "roll": 0.03272385522723198,
                        "pitch": -0.41531646251678467,
                        "yaw": -175.89627075195312
                    }
                },
                "velocity": {
                    "x": -0.09354958683252335,
                    "y": -0.012553632259368896,
                    "z": -0.0018415546510368586
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.068357944488525,
                "transform": {
                    "location": {
                        "x": 2871.740234375,
                        "y": 4249.587890625,
                        "z": 360.31475830078125
                    },
                    "rotation": {
                        "roll": 0.00508490763604641,
                        "pitch": 0.3885011374950409,
                        "yaw": 9.754743576049805
                    }
                },
                "velocity": {
                    "x": 5.981269836425781,
                    "y": 1.0235044956207275,
                    "z": 0.04262944310903549
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.265396118164062,
                "transform": {
                    "location": {
                        "x": 2876.4619140625,
                        "y": 4253.66064453125,
                        "z": 360.3533630371094
                    },
                    "rotation": {
                        "roll": 0.003175046294927597,
                        "pitch": 0.40393054485321045,
                        "yaw": 9.53215217590332
                    }
                },
                "velocity": {
                    "x": 8.152359008789062,
                    "y": 1.36110520362854,
                    "z": 0.056682195514440536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047211647033691,
                "transform": {
                    "location": {
                        "x": 2913.211181640625,
                        "y": 4256.34033203125,
                        "z": 360.6448059082031
                    },
                    "rotation": {
                        "roll": 0.00013218485401012003,
                        "pitch": 0.40843847393989563,
                        "yaw": 9.188375473022461
                    }
                },
                "velocity": {
                    "x": 7.943721771240234,
                    "y": 1.285164475440979,
                    "z": 0.057012539356946945
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.067621111869812,
                "transform": {
                    "location": {
                        "x": 2889.6728515625,
                        "y": 4245.7666015625,
                        "z": 360.433349609375
                    },
                    "rotation": {
                        "roll": -0.0003967296506743878,
                        "pitch": -0.3734132647514343,
                        "yaw": -170.61439514160156
                    }
                },
                "velocity": {
                    "x": -1.0533965826034546,
                    "y": -0.17355769872665405,
                    "z": -0.006933689117431641
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8836588859558105,
                "transform": {
                    "location": {
                        "x": 2878.6474609375,
                        "y": 4244.04931640625,
                        "z": 360.3670959472656
                    },
                    "rotation": {
                        "roll": 0.0019458081806078553,
                        "pitch": -0.4907832145690918,
                        "yaw": -170.50430297851562
                    }
                },
                "velocity": {
                    "x": -2.8394415378570557,
                    "y": -0.5026602745056152,
                    "z": -0.019827241078019142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.407342910766602,
                "transform": {
                    "location": {
                        "x": 2897.580810546875,
                        "y": 4250.31640625,
                        "z": 360.4958190917969
                    },
                    "rotation": {
                        "roll": 0.0008220868185162544,
                        "pitch": -0.36010804772377014,
                        "yaw": -170.78768920898438
                    }
                },
                "velocity": {
                    "x": -9.286001205444336,
                    "y": -1.5047165155410767,
                    "z": -0.06409391015768051
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.38693904876709,
                "transform": {
                    "location": {
                        "x": 2878.06396484375,
                        "y": 4247.16015625,
                        "z": 360.3630676269531
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.11874283105134964,
                        "yaw": -170.8189239501953
                    }
                },
                "velocity": {
                    "x": -11.240628242492676,
                    "y": -1.8178505897521973,
                    "z": -0.0779016762971878
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.362865149974823,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16058726608753204,
        "expert_target_speed": 10.0,
        "target_point": [
            34.82215357450331,
            5.812525104254686
        ],
        "target_point_next": [
            76.71447579882964,
            8.818004073958399
        ]
    },
    "325": {
        "acceleration": [
            -3.565502166748047,
            -2.369661331176758,
            -0.02087906002998352
        ],
        "angular_velocity": [
            -0.5853102803230286,
            0.48990917205810547,
            10.772250175476074
        ],
        "forward_vector": [
            -0.9913442134857178,
            -0.13128571212291718,
            -0.0008713005809113383
        ],
        "right_vector": [
            0.131270170211792,
            -0.9912944436073303,
            0.010179485194385052
        ],
        "location": [
            2921.840576171875,
            4254.505859375,
            360.6635437011719
        ],
        "rotation": [
            -0.5832518339157104,
            -0.049921851605176926,
            -172.4561004638672
        ],
        "velocity": [
            -10.850799560546875,
            -1.56657075881958,
            -0.07799841463565826
        ],
        "speed": 10.96330219621592,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.103185653686523,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2895.12890625,
                4249.91943359375,
                360.47906494140625
            ],
            "velocity": [
                -10.340812683105469,
                -1.6754684448242188,
                -0.0705251395702362
            ],
            "speed_kmh": 37.713256227297116,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.072137832641602,
                "transform": {
                    "location": {
                        "x": 2920.907470703125,
                        "y": 4260.890625,
                        "z": 360.6689758300781
                    },
                    "rotation": {
                        "roll": 0.0010362580651417375,
                        "pitch": 0.41467443108558655,
                        "yaw": 9.34407901763916
                    }
                },
                "velocity": {
                    "x": 7.9679999351501465,
                    "y": 1.2911726236343384,
                    "z": 0.05712202936410904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055356979370117,
                "transform": {
                    "location": {
                        "x": 2959.309814453125,
                        "y": 4263.80029296875,
                        "z": 360.9616394042969
                    },
                    "rotation": {
                        "roll": 0.00032206991454586387,
                        "pitch": 0.4628818929195404,
                        "yaw": 9.185053825378418
                    }
                },
                "velocity": {
                    "x": 7.951816082000732,
                    "y": 1.2857717275619507,
                    "z": 0.06470494717359543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035595893859863,
                "transform": {
                    "location": {
                        "x": 2961.142822265625,
                        "y": 4267.38720703125,
                        "z": 360.97808837890625
                    },
                    "rotation": {
                        "roll": -0.0007324194302782416,
                        "pitch": 0.47435662150382996,
                        "yaw": 9.202178955078125
                    }
                },
                "velocity": {
                    "x": 7.931760311126709,
                    "y": 1.2859874963760376,
                    "z": 0.0649101659655571
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.392951965332031,
                "transform": {
                    "location": {
                        "x": 2959.661376953125,
                        "y": 4257.07080078125,
                        "z": 360.9449157714844
                    },
                    "rotation": {
                        "roll": 0.0012877691769972444,
                        "pitch": -0.4619666635990143,
                        "yaw": -170.8862762451172
                    }
                },
                "velocity": {
                    "x": -8.285161972045898,
                    "y": -1.339081883430481,
                    "z": -0.06779241561889648
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.49962639808654785,
                "transform": {
                    "location": {
                        "x": 2950.60400390625,
                        "y": 4258.91796875,
                        "z": 360.8773498535156
                    },
                    "rotation": {
                        "roll": -0.02453613467514515,
                        "pitch": -0.5387516021728516,
                        "yaw": -168.21127319335938
                    }
                },
                "velocity": {
                    "x": -0.49236273765563965,
                    "y": -0.08480892330408096,
                    "z": -0.0035973452031612396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0930334329605103,
                "transform": {
                    "location": {
                        "x": 2944.623779296875,
                        "y": 4254.63720703125,
                        "z": 360.82330322265625
                    },
                    "rotation": {
                        "roll": -0.003112795064225793,
                        "pitch": -0.45898187160491943,
                        "yaw": -170.6279754638672
                    }
                },
                "velocity": {
                    "x": -1.0788935422897339,
                    "y": -0.17501439154148102,
                    "z": -0.008988180197775364
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9225696921348572,
                "transform": {
                    "location": {
                        "x": 2937.299560546875,
                        "y": 4256.921875,
                        "z": 360.7837829589844
                    },
                    "rotation": {
                        "roll": -0.002899170620366931,
                        "pitch": -0.29394400119781494,
                        "yaw": -175.47496032714844
                    }
                },
                "velocity": {
                    "x": -0.9116540551185608,
                    "y": -0.1413853019475937,
                    "z": -0.005654382519423962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.764397621154785,
                "transform": {
                    "location": {
                        "x": 2873.30859375,
                        "y": 4249.853515625,
                        "z": 360.32568359375
                    },
                    "rotation": {
                        "roll": 0.004350612871348858,
                        "pitch": 0.41221556067466736,
                        "yaw": 9.597474098205566
                    }
                },
                "velocity": {
                    "x": 6.671736717224121,
                    "y": 1.1148768663406372,
                    "z": 0.04532935842871666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.885040283203125,
                "transform": {
                    "location": {
                        "x": 2878.440185546875,
                        "y": 4253.98974609375,
                        "z": 360.36724853515625
                    },
                    "rotation": {
                        "roll": 0.0024928851053118706,
                        "pitch": 0.3853660821914673,
                        "yaw": 9.407329559326172
                    }
                },
                "velocity": {
                    "x": 7.779748439788818,
                    "y": 1.2831134796142578,
                    "z": 0.05468946322798729
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011624336242676,
                "transform": {
                    "location": {
                        "x": 2915.192138671875,
                        "y": 4256.66064453125,
                        "z": 360.6590881347656
                    },
                    "rotation": {
                        "roll": 0.0006649963324889541,
                        "pitch": 0.4068060517311096,
                        "yaw": 9.211370468139648
                    }
                },
                "velocity": {
                    "x": 7.908382892608643,
                    "y": 1.280772089958191,
                    "z": 0.056775081902742386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8119293451309204,
                "transform": {
                    "location": {
                        "x": 2889.316162109375,
                        "y": 4245.70751953125,
                        "z": 360.4309387207031
                    },
                    "rotation": {
                        "roll": -0.0014648393262177706,
                        "pitch": -0.3706675171852112,
                        "yaw": -170.62513732910156
                    }
                },
                "velocity": {
                    "x": -1.7877318859100342,
                    "y": -0.2948625981807709,
                    "z": -0.012597903609275818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9500200748443604,
                "transform": {
                    "location": {
                        "x": 2877.806396484375,
                        "y": 4243.90234375,
                        "z": 360.3612060546875
                    },
                    "rotation": {
                        "roll": -0.0006713949260301888,
                        "pitch": -0.4982964098453522,
                        "yaw": -170.3204345703125
                    }
                },
                "velocity": {
                    "x": -3.889477252960205,
                    "y": -0.6884182691574097,
                    "z": -0.026572756469249725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.47590446472168,
                "transform": {
                    "location": {
                        "x": 2895.12890625,
                        "y": 4249.91943359375,
                        "z": 360.47906494140625
                    },
                    "rotation": {
                        "roll": -6.10354109085165e-05,
                        "pitch": -0.2551553547382355,
                        "yaw": -170.80267333984375
                    }
                },
                "velocity": {
                    "x": -10.340812683105469,
                    "y": -1.6754684448242188,
                    "z": -0.0705251395702362
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.88339900970459,
                "transform": {
                    "location": {
                        "x": 2875.154052734375,
                        "y": 4246.689453125,
                        "z": 360.34271240234375
                    },
                    "rotation": {
                        "roll": -0.0017395002068951726,
                        "pitch": -0.25045618414878845,
                        "yaw": -170.8028106689453
                    }
                },
                "velocity": {
                    "x": -11.730324745178223,
                    "y": -1.8994555473327637,
                    "z": -0.08201391994953156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11956587433815002,
        "expert_target_speed": 10.0,
        "target_point": [
            32.43937232441896,
            4.3451924248584195
        ],
        "target_point_next": [
            74.4219993512309,
            5.552914707387211
        ]
    },
    "330": {
        "acceleration": [
            -1.5294075012207031,
            -2.345747947692871,
            -0.02456381916999817
        ],
        "angular_velocity": [
            -0.2335120439529419,
            -0.4582662284374237,
            9.385876655578613
        ],
        "forward_vector": [
            -0.9844604730606079,
            -0.1755993664264679,
            -0.001529692905023694
        ],
        "right_vector": [
            0.17556922137737274,
            -0.9843951463699341,
            0.011901902966201305
        ],
        "location": [
            2919.05419921875,
            4254.048828125,
            360.64349365234375
        ],
        "rotation": [
            -0.6819457411766052,
            -0.08764497935771942,
            -169.88644409179688
        ],
        "velocity": [
            -11.35046100616455,
            -2.138904571533203,
            -0.08224228769540787
        ],
        "speed": 11.55023280365325,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.988525390625,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2892.454833984375,
                4249.48583984375,
                360.4606628417969
            ],
            "velocity": [
                -11.192354202270508,
                -1.8121064901351929,
                -0.07663048803806305
            ],
            "speed_kmh": 40.81809397792487,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.017876625061035,
                "transform": {
                    "location": {
                        "x": 2922.892822265625,
                        "y": 4261.2119140625,
                        "z": 360.6833801269531
                    },
                    "rotation": {
                        "roll": 0.002233120147138834,
                        "pitch": 0.4150705635547638,
                        "yaw": 9.371971130371094
                    }
                },
                "velocity": {
                    "x": 7.914259433746338,
                    "y": 1.283611536026001,
                    "z": 0.05648018792271614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996277809143066,
                "transform": {
                    "location": {
                        "x": 2961.290283203125,
                        "y": 4264.12060546875,
                        "z": 360.97796630859375
                    },
                    "rotation": {
                        "roll": -0.0014343239599838853,
                        "pitch": 0.46667948365211487,
                        "yaw": 9.184720039367676
                    }
                },
                "velocity": {
                    "x": 7.893509864807129,
                    "y": 1.276244878768921,
                    "z": 0.0644683986902237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036890029907227,
                "transform": {
                    "location": {
                        "x": 2963.1259765625,
                        "y": 4267.70849609375,
                        "z": 360.99462890625
                    },
                    "rotation": {
                        "roll": -0.0005798361380584538,
                        "pitch": 0.4816444218158722,
                        "yaw": 9.201309204101562
                    }
                },
                "velocity": {
                    "x": 7.933226108551025,
                    "y": 1.2849422693252563,
                    "z": 0.06676916033029556
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.2080841064453125,
                "transform": {
                    "location": {
                        "x": 2957.729736328125,
                        "y": 4256.7587890625,
                        "z": 360.9294738769531
                    },
                    "rotation": {
                        "roll": -0.0007629378233104944,
                        "pitch": -0.4889459013938904,
                        "yaw": -170.84075927734375
                    }
                },
                "velocity": {
                    "x": -7.115289688110352,
                    "y": -1.1513924598693848,
                    "z": -0.05851248651742935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1677813529968262,
                "transform": {
                    "location": {
                        "x": 2950.39404296875,
                        "y": 4258.8798828125,
                        "z": 360.8747253417969
                    },
                    "rotation": {
                        "roll": -0.01583862490952015,
                        "pitch": -0.4296598434448242,
                        "yaw": -168.4802703857422
                    }
                },
                "velocity": {
                    "x": -1.1517890691757202,
                    "y": -0.19241420924663544,
                    "z": -0.008491887710988522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5195612907409668,
                "transform": {
                    "location": {
                        "x": 2944.20458984375,
                        "y": 4254.56494140625,
                        "z": 360.8197326660156
                    },
                    "rotation": {
                        "roll": 0.0013364757178351283,
                        "pitch": -0.4043198525905609,
                        "yaw": -171.0704345703125
                    }
                },
                "velocity": {
                    "x": -1.498262882232666,
                    "y": -0.2532293200492859,
                    "z": -0.012240295298397541
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.124145746231079,
                "transform": {
                    "location": {
                        "x": 2936.928466796875,
                        "y": 4256.86279296875,
                        "z": 360.781005859375
                    },
                    "rotation": {
                        "roll": -0.0340576134622097,
                        "pitch": -0.20486468076705933,
                        "yaw": -174.36508178710938
                    }
                },
                "velocity": {
                    "x": -2.096425771713257,
                    "y": -0.34171169996261597,
                    "z": -0.01506835874170065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.51924467086792,
                "transform": {
                    "location": {
                        "x": 2875.097412109375,
                        "y": 4250.15283203125,
                        "z": 360.3380126953125
                    },
                    "rotation": {
                        "roll": 0.002761002629995346,
                        "pitch": 0.4234853684902191,
                        "yaw": 9.441385269165039
                    }
                },
                "velocity": {
                    "x": 7.417693138122559,
                    "y": 1.2305017709732056,
                    "z": 0.0523236058652401
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.136238098144531,
                "transform": {
                    "location": {
                        "x": 2880.411376953125,
                        "y": 4254.314453125,
                        "z": 360.380859375
                    },
                    "rotation": {
                        "roll": 0.0017086846055462956,
                        "pitch": 0.3931320011615753,
                        "yaw": 9.335448265075684
                    }
                },
                "velocity": {
                    "x": 8.028525352478027,
                    "y": 1.3184337615966797,
                    "z": 0.053694162517786026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027434349060059,
                "transform": {
                    "location": {
                        "x": 2917.170654296875,
                        "y": 4256.9814453125,
                        "z": 360.67327880859375
                    },
                    "rotation": {
                        "roll": 0.0005018717492930591,
                        "pitch": 0.411580353975296,
                        "yaw": 9.17914867401123
                    }
                },
                "velocity": {
                    "x": 7.924404621124268,
                    "y": 1.2807129621505737,
                    "z": 0.05737266317009926
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.835687518119812,
                "transform": {
                    "location": {
                        "x": 2888.823486328125,
                        "y": 4245.62646484375,
                        "z": 360.4276428222656
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.3870258033275604,
                        "yaw": -170.6248016357422
                    }
                },
                "velocity": {
                    "x": -1.8111164569854736,
                    "y": -0.29907503724098206,
                    "z": -0.012656736187636852
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.059541702270508,
                "transform": {
                    "location": {
                        "x": 2876.68896484375,
                        "y": 4243.71044921875,
                        "z": 360.35357666015625
                    },
                    "rotation": {
                        "roll": -0.008850094862282276,
                        "pitch": -0.505092442035675,
                        "yaw": -170.2948760986328
                    }
                },
                "velocity": {
                    "x": -4.988486289978027,
                    "y": -0.8444641828536987,
                    "z": -0.02910299226641655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.338359832763672,
                "transform": {
                    "location": {
                        "x": 2892.454833984375,
                        "y": 4249.48583984375,
                        "z": 360.4606628417969
                    },
                    "rotation": {
                        "roll": -0.001129149692133069,
                        "pitch": -0.2491106390953064,
                        "yaw": -170.80267333984375
                    }
                },
                "velocity": {
                    "x": -11.192354202270508,
                    "y": -1.8121064901351929,
                    "z": -0.07663048803806305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.211881637573242,
                "transform": {
                    "location": {
                        "x": 2872.3046875,
                        "y": 4246.2275390625,
                        "z": 360.3226013183594
                    },
                    "rotation": {
                        "roll": -3.052012107218616e-05,
                        "pitch": -0.4747254550457001,
                        "yaw": -170.79119873046875
                    }
                },
                "velocity": {
                    "x": -11.067334175109863,
                    "y": -1.7927895784378052,
                    "z": -0.0794585719704628
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.012345357798039913,
        "expert_target_speed": 10.0,
        "target_point": [
            29.77822914023807,
            2.925796515823677
        ],
        "target_point_next": [
            71.77278766238041,
            2.2500600920026574
        ]
    },
    "335": {
        "acceleration": [
            -1.0473823547363281,
            -2.5417041778564453,
            0.005660355091094971
        ],
        "angular_velocity": [
            -0.3864316940307617,
            -0.30537065863609314,
            12.071895599365234
        ],
        "forward_vector": [
            -0.9750126004219055,
            -0.2221304029226303,
            -0.0029252723325043917
        ],
        "right_vector": [
            0.2220715582370758,
            -0.9749343991279602,
            0.013678038492798805
        ],
        "location": [
            2916.173583984375,
            4253.44384765625,
            360.6228332519531
        ],
        "rotation": [
            -0.7837216854095459,
            -0.16760599613189697,
            -167.16575622558594
        ],
        "velocity": [
            -11.658884048461914,
            -2.756836414337158,
            -0.08407466113567352
        ],
        "speed": 11.98038915356655,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.877038955688477,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2889.661376953125,
                4249.0341796875,
                360.4413146972656
            ],
            "velocity": [
                -10.797916412353516,
                -1.7457876205444336,
                -0.07494453340768814
            ],
            "speed_kmh": 39.37820632935308,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076969146728516,
                "transform": {
                    "location": {
                        "x": 2924.87939453125,
                        "y": 4261.53369140625,
                        "z": 360.6979064941406
                    },
                    "rotation": {
                        "roll": 0.002250777557492256,
                        "pitch": 0.41904574632644653,
                        "yaw": 9.339622497558594
                    }
                },
                "velocity": {
                    "x": 7.973236560821533,
                    "y": 1.2890411615371704,
                    "z": 0.05748381465673447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055670738220215,
                "transform": {
                    "location": {
                        "x": 2963.271240234375,
                        "y": 4264.44091796875,
                        "z": 360.9944152832031
                    },
                    "rotation": {
                        "roll": 0.0011399261420592666,
                        "pitch": 0.47023800015449524,
                        "yaw": 9.184809684753418
                    }
                },
                "velocity": {
                    "x": 7.95210075378418,
                    "y": 1.2858234643936157,
                    "z": 0.06769698858261108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035774230957031,
                "transform": {
                    "location": {
                        "x": 2965.109375,
                        "y": 4268.02880859375,
                        "z": 361.0113830566406
                    },
                    "rotation": {
                        "roll": -0.00021362460392992944,
                        "pitch": 0.48888441920280457,
                        "yaw": 9.197466850280762
                    }
                },
                "velocity": {
                    "x": 7.9321746826171875,
                    "y": 1.2844011783599854,
                    "z": 0.06769119203090668
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.8984551429748535,
                "transform": {
                    "location": {
                        "x": 2956.15283203125,
                        "y": 4256.5048828125,
                        "z": 360.9170227050781
                    },
                    "rotation": {
                        "roll": -0.00039673084393143654,
                        "pitch": -0.5183703303337097,
                        "yaw": -170.73138427734375
                    }
                },
                "velocity": {
                    "x": -4.835152626037598,
                    "y": -0.7839897274971008,
                    "z": -0.03903828561306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.641741394996643,
                "transform": {
                    "location": {
                        "x": 2950.04833984375,
                        "y": 4258.81884765625,
                        "z": 360.8719787597656
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": -0.4234580397605896,
                        "yaw": -168.8668212890625
                    }
                },
                "velocity": {
                    "x": -1.6194727420806885,
                    "y": -0.26922711730003357,
                    "z": -0.01181959081441164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2837069034576416,
                "transform": {
                    "location": {
                        "x": 2943.811767578125,
                        "y": 4254.5029296875,
                        "z": 360.8169860839844
                    },
                    "rotation": {
                        "roll": 0.002174117835238576,
                        "pitch": -0.4486956000328064,
                        "yaw": -170.8096466064453
                    }
                },
                "velocity": {
                    "x": -1.2697938680648804,
                    "y": -0.188328355550766,
                    "z": -0.007700118701905012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.629155158996582,
                "transform": {
                    "location": {
                        "x": 2936.21875,
                        "y": 4256.7431640625,
                        "z": 360.7757263183594
                    },
                    "rotation": {
                        "roll": -0.05914306640625,
                        "pitch": -0.13159041106700897,
                        "yaw": -172.73333740234375
                    }
                },
                "velocity": {
                    "x": -3.5760607719421387,
                    "y": -0.6179277896881104,
                    "z": -0.0268542617559433
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.630657196044922,
                "transform": {
                    "location": {
                        "x": 2877.120849609375,
                        "y": 4250.48779296875,
                        "z": 360.35205078125
                    },
                    "rotation": {
                        "roll": 0.0025310912169516087,
                        "pitch": 0.43450927734375,
                        "yaw": 9.356632232666016
                    }
                },
                "velocity": {
                    "x": 8.515616416931152,
                    "y": 1.403176188468933,
                    "z": 0.06005055457353592
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088911056518555,
                "transform": {
                    "location": {
                        "x": 2882.4228515625,
                        "y": 4254.64404296875,
                        "z": 360.3946533203125
                    },
                    "rotation": {
                        "roll": 0.0015822090208530426,
                        "pitch": 0.389286607503891,
                        "yaw": 9.292141914367676
                    }
                },
                "velocity": {
                    "x": 7.983126163482666,
                    "y": 1.3026766777038574,
                    "z": 0.05669273063540459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029264450073242,
                "transform": {
                    "location": {
                        "x": 2919.15283203125,
                        "y": 4257.30126953125,
                        "z": 360.68756103515625
                    },
                    "rotation": {
                        "roll": 0.0006129718967713416,
                        "pitch": 0.4118603765964508,
                        "yaw": 9.205735206604004
                    }
                },
                "velocity": {
                    "x": 7.9259352684021,
                    "y": 1.2827250957489014,
                    "z": 0.05706214904785156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.090663194656372,
                "transform": {
                    "location": {
                        "x": 2888.353759765625,
                        "y": 4245.54931640625,
                        "z": 360.42431640625
                    },
                    "rotation": {
                        "roll": -0.0013427762314677238,
                        "pitch": -0.3855299949645996,
                        "yaw": -170.62615966796875
                    }
                },
                "velocity": {
                    "x": -2.06270694732666,
                    "y": -0.3404920995235443,
                    "z": -0.013349113054573536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.560506820678711,
                "transform": {
                    "location": {
                        "x": 2875.38623046875,
                        "y": 4243.4892578125,
                        "z": 360.34417724609375
                    },
                    "rotation": {
                        "roll": -0.0042724632658064365,
                        "pitch": -0.44713830947875977,
                        "yaw": -170.36619567871094
                    }
                },
                "velocity": {
                    "x": -5.4823808670043945,
                    "y": -0.9280696511268616,
                    "z": -0.037735432386398315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.938390731811523,
                "transform": {
                    "location": {
                        "x": 2889.661376953125,
                        "y": 4249.0341796875,
                        "z": 360.4413146972656
                    },
                    "rotation": {
                        "roll": -0.00015258909843396395,
                        "pitch": -0.4019770920276642,
                        "yaw": -170.82449340820312
                    }
                },
                "velocity": {
                    "x": -10.797916412353516,
                    "y": -1.7457876205444336,
                    "z": -0.07494453340768814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.563353538513184,
                "transform": {
                    "location": {
                        "x": 2869.624267578125,
                        "y": 4245.79345703125,
                        "z": 360.3033142089844
                    },
                    "rotation": {
                        "roll": -0.0005187932983972132,
                        "pitch": -0.533021092414856,
                        "yaw": -170.80645751953125
                    }
                },
                "velocity": {
                    "x": -10.42713737487793,
                    "y": -1.689239740371704,
                    "z": -0.0755472257733345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06343894451856613,
        "expert_target_speed": 10.0,
        "target_point": [
            26.94050889851574,
            1.5590221695453579
        ],
        "target_point_next": [
            68.85565616870579,
            -1.1093096131224396
        ]
    },
    "340": {
        "acceleration": [
            -0.7467269897460938,
            -1.941084861755371,
            -0.00642240047454834
        ],
        "angular_velocity": [
            0.4296208918094635,
            -0.08368666470050812,
            8.136984825134277
        ],
        "forward_vector": [
            -0.963738739490509,
            -0.26682138442993164,
            -0.0037288577295839787
        ],
        "right_vector": [
            0.2667447030544281,
            -0.9636614322662354,
            0.014277154579758644
        ],
        "location": [
            2913.227783203125,
            4252.68359375,
            360.60162353515625
        ],
        "rotation": [
            -0.81805419921875,
            -0.21364830434322357,
            -164.52468872070312
        ],
        "velocity": [
            -11.873720169067383,
            -3.3470571041107178,
            -0.08513590693473816
        ],
        "speed": 12.33645094472051,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.46983528137207,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2887.072998046875,
                4248.61572265625,
                360.4233093261719
            ],
            "velocity": [
                -9.75202465057373,
                -1.5759824514389038,
                -0.0665840432047844
            ],
            "speed_kmh": 35.5635796882226,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013208389282227,
                "transform": {
                    "location": {
                        "x": 2926.864013671875,
                        "y": 4261.85498046875,
                        "z": 360.7124938964844
                    },
                    "rotation": {
                        "roll": 0.0004164525889791548,
                        "pitch": 0.41948971152305603,
                        "yaw": 9.35746955871582
                    }
                },
                "velocity": {
                    "x": 7.909770965576172,
                    "y": 1.282077431678772,
                    "z": 0.057509467005729675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995752334594727,
                "transform": {
                    "location": {
                        "x": 2965.25146484375,
                        "y": 4264.76123046875,
                        "z": 361.01116943359375
                    },
                    "rotation": {
                        "roll": 0.0007763642934150994,
                        "pitch": 0.4805174469947815,
                        "yaw": 9.190960884094238
                    }
                },
                "velocity": {
                    "x": 7.892434597015381,
                    "y": 1.279388427734375,
                    "z": 0.06852149963378906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037237167358398,
                "transform": {
                    "location": {
                        "x": 2967.0927734375,
                        "y": 4268.34912109375,
                        "z": 361.0284423828125
                    },
                    "rotation": {
                        "roll": -0.0007324177422560751,
                        "pitch": 0.4892464280128479,
                        "yaw": 9.19739818572998
                    }
                },
                "velocity": {
                    "x": 7.933622360229492,
                    "y": 1.284556269645691,
                    "z": 0.06882045418024063
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010791429085657,
                "transform": {
                    "location": {
                        "x": 2955.69140625,
                        "y": 4256.43603515625,
                        "z": 360.91400146484375
                    },
                    "rotation": {
                        "roll": -0.005279545206576586,
                        "pitch": -0.6206046342849731,
                        "yaw": -170.05845642089844
                    }
                },
                "velocity": {
                    "x": 8.995197276817635e-05,
                    "y": 2.408417822152842e-05,
                    "z": 0.001075117732398212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1742961406707764,
                "transform": {
                    "location": {
                        "x": 2949.572021484375,
                        "y": 4258.73583984375,
                        "z": 360.8682861328125
                    },
                    "rotation": {
                        "roll": -0.008972163312137127,
                        "pitch": -0.42245399951934814,
                        "yaw": -169.29180908203125
                    }
                },
                "velocity": {
                    "x": -2.1452085971832275,
                    "y": -0.35412734746932983,
                    "z": -0.015396146103739738
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2611095905303955,
                "transform": {
                    "location": {
                        "x": 2943.36865234375,
                        "y": 4254.4326171875,
                        "z": 360.81378173828125
                    },
                    "rotation": {
                        "roll": -0.0012207083636894822,
                        "pitch": -0.4571855068206787,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -1.2446669340133667,
                    "y": -0.20278671383857727,
                    "z": -0.008896589279174805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.1023268699646,
                "transform": {
                    "location": {
                        "x": 2935.130859375,
                        "y": 4256.56201171875,
                        "z": 360.7677001953125
                    },
                    "rotation": {
                        "roll": -0.0416259765625,
                        "pitch": -0.11661181598901749,
                        "yaw": -171.48614501953125
                    }
                },
                "velocity": {
                    "x": -5.030690670013428,
                    "y": -0.8514761924743652,
                    "z": -0.02961689792573452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.250822067260742,
                "transform": {
                    "location": {
                        "x": 2879.199951171875,
                        "y": 4250.830078125,
                        "z": 360.3670349121094
                    },
                    "rotation": {
                        "roll": 0.0021954660769551992,
                        "pitch": 0.3893549144268036,
                        "yaw": 9.285782814025879
                    }
                },
                "velocity": {
                    "x": 8.142416000366211,
                    "y": 1.3319013118743896,
                    "z": 0.056192006915807724
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.991290092468262,
                "transform": {
                    "location": {
                        "x": 2884.39794921875,
                        "y": 4254.96630859375,
                        "z": 360.4083251953125
                    },
                    "rotation": {
                        "roll": 0.0005641804891638458,
                        "pitch": 0.38762688636779785,
                        "yaw": 9.252074241638184
                    }
                },
                "velocity": {
                    "x": 7.887194633483887,
                    "y": 1.2844750881195068,
                    "z": 0.05477805808186531
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.018568992614746,
                "transform": {
                    "location": {
                        "x": 2921.132080078125,
                        "y": 4257.6220703125,
                        "z": 360.7019348144531
                    },
                    "rotation": {
                        "roll": 0.00024960190057754517,
                        "pitch": 0.413629412651062,
                        "yaw": 9.176871299743652
                    }
                },
                "velocity": {
                    "x": 7.915473461151123,
                    "y": 1.280443549156189,
                    "z": 0.05650641396641731
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.257863998413086,
                "transform": {
                    "location": {
                        "x": 2887.835205078125,
                        "y": 4245.4638671875,
                        "z": 360.4207458496094
                    },
                    "rotation": {
                        "roll": -0.0012207039399072528,
                        "pitch": -0.3865955173969269,
                        "yaw": -170.6257781982422
                    }
                },
                "velocity": {
                    "x": -2.227668046951294,
                    "y": -0.3677603006362915,
                    "z": -0.014040431939065456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.086182117462158,
                "transform": {
                    "location": {
                        "x": 2873.962646484375,
                        "y": 4243.24853515625,
                        "z": 360.333984375
                    },
                    "rotation": {
                        "roll": -0.003143313806504011,
                        "pitch": -0.44039690494537354,
                        "yaw": -170.4084014892578
                    }
                },
                "velocity": {
                    "x": -6.000929355621338,
                    "y": -1.0142050981521606,
                    "z": -0.04298175871372223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.878771781921387,
                "transform": {
                    "location": {
                        "x": 2887.072998046875,
                        "y": 4248.61572265625,
                        "z": 360.4233093261719
                    },
                    "rotation": {
                        "roll": 0.0007787536014802754,
                        "pitch": -0.5195656418800354,
                        "yaw": -170.8199005126953
                    }
                },
                "velocity": {
                    "x": -9.75202465057373,
                    "y": -1.5759824514389038,
                    "z": -0.0665840432047844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.052388191223145,
                "transform": {
                    "location": {
                        "x": 2867.0849609375,
                        "y": 4245.38232421875,
                        "z": 360.284912109375
                    },
                    "rotation": {
                        "roll": 0.0001772621035343036,
                        "pitch": -0.5223113894462585,
                        "yaw": -170.7893829345703
                    }
                },
                "velocity": {
                    "x": -9.922785758972168,
                    "y": -1.6073193550109863,
                    "z": -0.07319063693284988
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8840402960777283,
        "expert_target_speed": 10.0,
        "target_point": [
            23.94187522319541,
            0.3692888435202537
        ],
        "target_point_next": [
            65.68954588466939,
            -4.227618761078842
        ]
    },
    "345": {
        "acceleration": [
            -0.483856201171875,
            -1.5844106674194336,
            0.007596015930175781
        ],
        "angular_velocity": [
            0.39830759167671204,
            -0.017628563567996025,
            6.949545860290527
        ],
        "forward_vector": [
            -0.9551858305931091,
            -0.2959728240966797,
            -0.004493340849876404
        ],
        "right_vector": [
            0.2959020733833313,
            -0.9551413655281067,
            0.012118560262024403
        ],
        "location": [
            2910.23779296875,
            4251.7998046875,
            360.5801086425781
        ],
        "rotation": [
            -0.6943663954734802,
            -0.25745031237602234,
            -162.783935546875
        ],
        "velocity": [
            -12.018573760986328,
            -3.7629199028015137,
            -0.08778895437717438
        ],
        "speed": 12.59387475891232,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.71767807006836,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2884.767822265625,
                4248.2431640625,
                360.4074401855469
            ],
            "velocity": [
                -9.026686668395996,
                -1.458997368812561,
                -0.06201859191060066
            ],
            "speed_kmh": 32.91856847148672,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07915210723877,
                "transform": {
                    "location": {
                        "x": 2928.850341796875,
                        "y": 4262.17626953125,
                        "z": 360.7271423339844
                    },
                    "rotation": {
                        "roll": 0.0014317238237708807,
                        "pitch": 0.4225359559059143,
                        "yaw": 9.34584903717041
                    }
                },
                "velocity": {
                    "x": 7.975157737731934,
                    "y": 1.2908042669296265,
                    "z": 0.05822117626667023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055624008178711,
                "transform": {
                    "location": {
                        "x": 2967.232421875,
                        "y": 4265.08154296875,
                        "z": 361.0281066894531
                    },
                    "rotation": {
                        "roll": -0.0004272419319022447,
                        "pitch": 0.47916507720947266,
                        "yaw": 9.187318801879883
                    }
                },
                "velocity": {
                    "x": 7.952275276184082,
                    "y": 1.2843667268753052,
                    "z": 0.06923751533031464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034041404724121,
                "transform": {
                    "location": {
                        "x": 2969.075439453125,
                        "y": 4268.669921875,
                        "z": 361.0455627441406
                    },
                    "rotation": {
                        "roll": -0.0007019017357379198,
                        "pitch": 0.49775683879852295,
                        "yaw": 9.201127052307129
                    }
                },
                "velocity": {
                    "x": 7.9303789138793945,
                    "y": 1.28459894657135,
                    "z": 0.06864743679761887
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8456016778945923,
                "transform": {
                    "location": {
                        "x": 2955.568115234375,
                        "y": 4256.41552734375,
                        "z": 360.9117126464844
                    },
                    "rotation": {
                        "roll": -0.004547119606286287,
                        "pitch": -0.46712344884872437,
                        "yaw": -170.10427856445312
                    }
                },
                "velocity": {
                    "x": -0.8343800902366638,
                    "y": -0.13717932999134064,
                    "z": -0.005828914698213339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012295642227400094,
                "transform": {
                    "location": {
                        "x": 2949.268310546875,
                        "y": 4258.6826171875,
                        "z": 360.86676025390625
                    },
                    "rotation": {
                        "roll": -0.012451168149709702,
                        "pitch": -0.5018276572227478,
                        "yaw": -169.64456176757812
                    }
                },
                "velocity": {
                    "x": -5.020767275709659e-05,
                    "y": -8.819319191388786e-05,
                    "z": -6.942214531591162e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8044606447219849,
                "transform": {
                    "location": {
                        "x": 2942.9208984375,
                        "y": 4254.35791015625,
                        "z": 360.8104248046875
                    },
                    "rotation": {
                        "roll": 0.002405070001259446,
                        "pitch": -0.45669373869895935,
                        "yaw": -171.10670471191406
                    }
                },
                "velocity": {
                    "x": -0.793231189250946,
                    "y": -0.13379420340061188,
                    "z": -0.006351270712912083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.588171005249023,
                "transform": {
                    "location": {
                        "x": 2933.7978515625,
                        "y": 4256.33203125,
                        "z": 360.75787353515625
                    },
                    "rotation": {
                        "roll": -0.0370178185403347,
                        "pitch": -0.27648603916168213,
                        "yaw": -170.57591247558594
                    }
                },
                "velocity": {
                    "x": -5.503924369812012,
                    "y": -0.9657841324806213,
                    "z": -0.04164343327283859
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.958446979522705,
                "transform": {
                    "location": {
                        "x": 2881.194091796875,
                        "y": 4251.15576171875,
                        "z": 360.380859375
                    },
                    "rotation": {
                        "roll": 0.0018200385384261608,
                        "pitch": 0.3795672655105591,
                        "yaw": 9.242196083068848
                    }
                },
                "velocity": {
                    "x": 7.854709148406982,
                    "y": 1.2795875072479248,
                    "z": 0.05546264350414276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.124700546264648,
                "transform": {
                    "location": {
                        "x": 2886.39013671875,
                        "y": 4255.291015625,
                        "z": 360.4219970703125
                    },
                    "rotation": {
                        "roll": 0.0014695586869493127,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.23996353149414
                    }
                },
                "velocity": {
                    "x": 8.019220352172852,
                    "y": 1.3037692308425903,
                    "z": 0.055232152342796326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029451370239258,
                "transform": {
                    "location": {
                        "x": 2923.11279296875,
                        "y": 4257.9423828125,
                        "z": 360.7164001464844
                    },
                    "rotation": {
                        "roll": 0.0008653589757159352,
                        "pitch": 0.41505691409111023,
                        "yaw": 9.199538230895996
                    }
                },
                "velocity": {
                    "x": 7.926037311553955,
                    "y": 1.28327476978302,
                    "z": 0.05673856660723686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.936248779296875,
                "transform": {
                    "location": {
                        "x": 2887.196533203125,
                        "y": 4245.3583984375,
                        "z": 360.41632080078125
                    },
                    "rotation": {
                        "roll": -0.0002746575337368995,
                        "pitch": -0.37579697370529175,
                        "yaw": -170.6318359375
                    }
                },
                "velocity": {
                    "x": -2.897616147994995,
                    "y": -0.47434887290000916,
                    "z": -0.01925806887447834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.824100971221924,
                "transform": {
                    "location": {
                        "x": 2872.19140625,
                        "y": 4242.94970703125,
                        "z": 360.32220458984375
                    },
                    "rotation": {
                        "roll": -0.006896973121911287,
                        "pitch": -0.5547547936439514,
                        "yaw": -170.4193115234375
                    }
                },
                "velocity": {
                    "x": -7.71786642074585,
                    "y": -1.2837938070297241,
                    "z": -0.054530028253793716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.144046783447266,
                "transform": {
                    "location": {
                        "x": 2884.767822265625,
                        "y": 4248.2431640625,
                        "z": 360.4074401855469
                    },
                    "rotation": {
                        "roll": 0.0002950006746686995,
                        "pitch": -0.5141356587409973,
                        "yaw": -170.84059143066406
                    }
                },
                "velocity": {
                    "x": -9.026686668395996,
                    "y": -1.458997368812561,
                    "z": -0.06201859191060066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.753798484802246,
                "transform": {
                    "location": {
                        "x": 2864.655517578125,
                        "y": 4244.98828125,
                        "z": 360.26715087890625
                    },
                    "rotation": {
                        "roll": 0.0008328072144649923,
                        "pitch": -0.4953252971172333,
                        "yaw": -170.81442260742188
                    }
                },
                "velocity": {
                    "x": -9.628252983093262,
                    "y": -1.558267593383789,
                    "z": -0.07164185494184494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.9587962031364441,
        "expert_target_speed": 10.0,
        "target_point": [
            20.82443885677107,
            -0.31740165944839305
        ],
        "target_point_next": [
            62.41320039599064,
            -6.180376912512919
        ]
    },
    "350": {
        "acceleration": [
            -0.08724212646484375,
            -0.7427358627319336,
            -0.0019843876361846924
        ],
        "angular_velocity": [
            0.7708010673522949,
            0.011476211249828339,
            2.2810587882995605
        ],
        "forward_vector": [
            -0.9489985704421997,
            -0.315236359834671,
            -0.0052681914530694485
        ],
        "right_vector": [
            0.3151807188987732,
            -0.948986291885376,
            0.009285648353397846
        ],
        "location": [
            2907.22216796875,
            4250.82666015625,
            360.5583801269531
        ],
        "rotation": [
            -0.53204345703125,
            -0.30184653401374817,
            -161.62464904785156
        ],
        "velocity": [
            -12.076008796691895,
            -4.023004055023193,
            -0.08781950920820236
        ],
        "speed": 12.728493629825687,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.951778411865234,
        "front_vehicle_info": {
            "id": 26421,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2882.447021484375,
                4247.86767578125,
                360.3917236328125
            ],
            "velocity": [
                -9.660284996032715,
                -1.561475396156311,
                -0.065944604575634
            ],
            "speed_kmh": 35.22920716670908,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012676239013672,
                "transform": {
                    "location": {
                        "x": 2930.83544921875,
                        "y": 4262.49755859375,
                        "z": 360.7417907714844
                    },
                    "rotation": {
                        "roll": 0.0019563487730920315,
                        "pitch": 0.4233555793762207,
                        "yaw": 9.349129676818848
                    }
                },
                "velocity": {
                    "x": 7.90932035446167,
                    "y": 1.2814266681671143,
                    "z": 0.05979098007082939
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9955244064331055,
                "transform": {
                    "location": {
                        "x": 2969.212646484375,
                        "y": 4265.40234375,
                        "z": 361.0452575683594
                    },
                    "rotation": {
                        "roll": -0.00015258422354236245,
                        "pitch": 0.48826971650123596,
                        "yaw": 9.191990852355957
                    }
                },
                "velocity": {
                    "x": 7.892561435699463,
                    "y": 1.277187466621399,
                    "z": 0.06842342019081116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037708282470703,
                "transform": {
                    "location": {
                        "x": 2971.05908203125,
                        "y": 4268.99072265625,
                        "z": 361.0628356933594
                    },
                    "rotation": {
                        "roll": -0.0005798412021249533,
                        "pitch": 0.5011855959892273,
                        "yaw": 9.201106071472168
                    }
                },
                "velocity": {
                    "x": 7.9340033531188965,
                    "y": 1.2851850986480713,
                    "z": 0.06812208145856857
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.391568899154663,
                "transform": {
                    "location": {
                        "x": 2955.294921875,
                        "y": 4256.3701171875,
                        "z": 360.90924072265625
                    },
                    "rotation": {
                        "roll": -0.004730224609375,
                        "pitch": -0.43374431133270264,
                        "yaw": -170.161376953125
                    }
                },
                "velocity": {
                    "x": -1.3732028007507324,
                    "y": -0.22508232295513153,
                    "z": -0.010768470354378223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6582287549972534,
                "transform": {
                    "location": {
                        "x": 2949.162841796875,
                        "y": 4258.6640625,
                        "z": 360.8653564453125
                    },
                    "rotation": {
                        "roll": -0.00775145972147584,
                        "pitch": -0.4406769573688507,
                        "yaw": -169.72708129882812
                    }
                },
                "velocity": {
                    "x": -0.6495977640151978,
                    "y": -0.10614684969186783,
                    "z": -0.004550800193101168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2847.231201171875,
                        "y": 4248.85498046875,
                        "z": 360.3363952636719
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 2.574714441649917e-09,
                    "y": 4.1662515104512465e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6539771556854248,
                "transform": {
                    "location": {
                        "x": 2942.691162109375,
                        "y": 4254.3212890625,
                        "z": 360.808349609375
                    },
                    "rotation": {
                        "roll": 0.001117030275054276,
                        "pitch": -0.403199702501297,
                        "yaw": -171.071044921875
                    }
                },
                "velocity": {
                    "x": -1.63302743434906,
                    "y": -0.2621757686138153,
                    "z": -0.011222781613469124
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.078976154327393,
                "transform": {
                    "location": {
                        "x": 2932.319580078125,
                        "y": 4256.06884765625,
                        "z": 360.7468566894531
                    },
                    "rotation": {
                        "roll": -0.0354003868997097,
                        "pitch": -0.1316450536251068,
                        "yaw": -170.0447998046875
                    }
                },
                "velocity": {
                    "x": -6.966559886932373,
                    "y": -1.2554813623428345,
                    "z": -0.052082259207963943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.954860687255859,
                "transform": {
                    "location": {
                        "x": 2883.153076171875,
                        "y": 4251.47509765625,
                        "z": 360.394287109375
                    },
                    "rotation": {
                        "roll": 0.0007183367852121592,
                        "pitch": 0.38670480251312256,
                        "yaw": 9.222180366516113
                    }
                },
                "velocity": {
                    "x": 7.851648807525635,
                    "y": 1.2761600017547607,
                    "z": 0.053268831223249435
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.024625778198242,
                "transform": {
                    "location": {
                        "x": 2888.383056640625,
                        "y": 4255.6142578125,
                        "z": 360.4356689453125
                    },
                    "rotation": {
                        "roll": 0.00020439342188183218,
                        "pitch": 0.38792741298675537,
                        "yaw": 9.218755722045898
                    }
                },
                "velocity": {
                    "x": 7.921014308929443,
                    "y": 1.2841888666152954,
                    "z": 0.05484122037887573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.022857666015625,
                "transform": {
                    "location": {
                        "x": 2925.09375,
                        "y": 4258.2626953125,
                        "z": 360.7308654785156
                    },
                    "rotation": {
                        "roll": -0.0006103474297560751,
                        "pitch": 0.4155828356742859,
                        "yaw": 9.170766830444336
                    }
                },
                "velocity": {
                    "x": 7.919826507568359,
                    "y": 1.2803481817245483,
                    "z": 0.05745290592312813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.679866313934326,
                "transform": {
                    "location": {
                        "x": 2886.377685546875,
                        "y": 4245.22412109375,
                        "z": 360.41070556640625
                    },
                    "rotation": {
                        "roll": 0.0012903461465612054,
                        "pitch": -0.37310588359832764,
                        "yaw": -170.6651153564453
                    }
                },
                "velocity": {
                    "x": -3.63163161277771,
                    "y": -0.5933366417884827,
                    "z": -0.024893134832382202
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.86647891998291,
                "transform": {
                    "location": {
                        "x": 2870.123046875,
                        "y": 4242.60595703125,
                        "z": 360.30694580078125
                    },
                    "rotation": {
                        "roll": -0.005340580828487873,
                        "pitch": -0.5163622498512268,
                        "yaw": -170.55189514160156
                    }
                },
                "velocity": {
                    "x": -8.747481346130371,
                    "y": -1.446409821510315,
                    "z": -0.06256547570228577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.785890579223633,
                "transform": {
                    "location": {
                        "x": 2882.447021484375,
                        "y": 4247.86767578125,
                        "z": 360.3917236328125
                    },
                    "rotation": {
                        "roll": 0.0013038958422839642,
                        "pitch": -0.3439888060092926,
                        "yaw": -170.8042449951172
                    }
                },
                "velocity": {
                    "x": -9.660284996032715,
                    "y": -1.561475396156311,
                    "z": -0.065944604575634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.574406623840332,
                "transform": {
                    "location": {
                        "x": 2862.4267578125,
                        "y": 4244.6279296875,
                        "z": 360.2506103515625
                    },
                    "rotation": {
                        "roll": 0.0007882618228904903,
                        "pitch": -0.614464282989502,
                        "yaw": -170.78721618652344
                    }
                },
                "velocity": {
                    "x": -8.463942527770996,
                    "y": -1.3703691959381104,
                    "z": -0.06492924690246582
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7097736597061157,
        "expert_target_speed": 10.0,
        "target_point": [
            17.645116520542455,
            -0.7115301460916186
        ],
        "target_point_next": [
            59.10674714629016,
            -7.414719762846923
        ]
    },
    "355": {
        "acceleration": [
            0.5705833435058594,
            0.08747100830078125,
            0.005579590797424316
        ],
        "angular_velocity": [
            0.8285799026489258,
            -0.05501064658164978,
            1.5485087633132935
        ],
        "forward_vector": [
            -0.94652259349823,
            -0.3225725591182709,
            -0.006477787159383297
        ],
        "right_vector": [
            0.3225381374359131,
            -0.946538507938385,
            0.00582417706027627
        ],
        "location": [
            2904.209228515625,
            4249.8125,
            360.5368957519531
        ],
        "rotation": [
            -0.3337096571922302,
            -0.37115246057510376,
            -161.18101501464844
        ],
        "velocity": [
            -11.995681762695312,
            -4.081362247467041,
            -0.08730053901672363
        ],
        "speed": 12.670986494622671,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.425498962402344,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2885.37451171875,
                4245.06005859375,
                360.40374755859375
            ],
            "velocity": [
                -4.368900775909424,
                -0.7139753699302673,
                -0.02995835803449154
            ],
            "speed_kmh": 15.937046843466764,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079261779785156,
                "transform": {
                    "location": {
                        "x": 2932.821533203125,
                        "y": 4262.81884765625,
                        "z": 360.756591796875
                    },
                    "rotation": {
                        "roll": 0.001126485294662416,
                        "pitch": 0.42524755001068115,
                        "yaw": 9.349831581115723
                    }
                },
                "velocity": {
                    "x": 7.975067615509033,
                    "y": 1.2919520139694214,
                    "z": 0.06028008460998535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054927825927734,
                "transform": {
                    "location": {
                        "x": 2971.193359375,
                        "y": 4265.72314453125,
                        "z": 361.0625
                    },
                    "rotation": {
                        "roll": 0.0002619747829157859,
                        "pitch": 0.49314644932746887,
                        "yaw": 9.192255973815918
                    }
                },
                "velocity": {
                    "x": 7.951200008392334,
                    "y": 1.2866621017456055,
                    "z": 0.0690837875008583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2973.05908203125,
                        "y": 4269.294921875,
                        "z": 361.0803527832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.903649926185608,
                "transform": {
                    "location": {
                        "x": 2954.8837890625,
                        "y": 4256.30224609375,
                        "z": 360.9059143066406
                    },
                    "rotation": {
                        "roll": -0.005279540084302425,
                        "pitch": -0.43295201659202576,
                        "yaw": -170.23037719726562
                    }
                },
                "velocity": {
                    "x": -1.8786530494689941,
                    "y": -0.3071598410606384,
                    "z": -0.014092826284468174
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.272025465965271,
                "transform": {
                    "location": {
                        "x": 2948.9150390625,
                        "y": 4258.62158203125,
                        "z": 360.86328125
                    },
                    "rotation": {
                        "roll": -0.005065913777798414,
                        "pitch": -0.4186086058616638,
                        "yaw": -169.92919921875
                    }
                },
                "velocity": {
                    "x": -1.2553788423538208,
                    "y": -0.20488879084587097,
                    "z": -0.00965629518032074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.11282342672348022,
                "transform": {
                    "location": {
                        "x": 2847.232177734375,
                        "y": 4248.85498046875,
                        "z": 360.13916015625
                    },
                    "rotation": {
                        "roll": -0.00039672982529737055,
                        "pitch": 0.44360026717185974,
                        "yaw": 9.191629409790039
                    }
                },
                "velocity": {
                    "x": -0.0009011065703816712,
                    "y": 2.1711233785026707e-05,
                    "z": 0.11281982809305191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0578570365905762,
                "transform": {
                    "location": {
                        "x": 2942.254638671875,
                        "y": 4254.24658203125,
                        "z": 360.8053283691406
                    },
                    "rotation": {
                        "roll": 0.0026378482580184937,
                        "pitch": -0.4587633013725281,
                        "yaw": -171.38204956054688
                    }
                },
                "velocity": {
                    "x": -1.0415806770324707,
                    "y": -0.1843620389699936,
                    "z": -0.013483237475156784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.85921573638916,
                "transform": {
                    "location": {
                        "x": 2930.325439453125,
                        "y": 4255.71044921875,
                        "z": 360.7320251464844
                    },
                    "rotation": {
                        "roll": 0.009076165966689587,
                        "pitch": -0.057926829904317856,
                        "yaw": -169.90380859375
                    }
                },
                "velocity": {
                    "x": -8.724969863891602,
                    "y": -1.5350710153579712,
                    "z": -0.06454364955425262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990823268890381,
                "transform": {
                    "location": {
                        "x": 2885.120849609375,
                        "y": 4251.79443359375,
                        "z": 360.40777587890625
                    },
                    "rotation": {
                        "roll": 0.0006855595274828374,
                        "pitch": 0.39117857813835144,
                        "yaw": 9.208603858947754
                    }
                },
                "velocity": {
                    "x": 7.887678146362305,
                    "y": 1.2786619663238525,
                    "z": 0.05306864529848099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077556610107422,
                "transform": {
                    "location": {
                        "x": 2890.36767578125,
                        "y": 4255.93603515625,
                        "z": 360.4493408203125
                    },
                    "rotation": {
                        "roll": 0.00038904292159713805,
                        "pitch": 0.3897510766983032,
                        "yaw": 9.206162452697754
                    }
                },
                "velocity": {
                    "x": 7.973306655883789,
                    "y": 1.2923812866210938,
                    "z": 0.05529085174202919
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.023833274841309,
                "transform": {
                    "location": {
                        "x": 2927.073486328125,
                        "y": 4258.5830078125,
                        "z": 360.7453308105469
                    },
                    "rotation": {
                        "roll": 4.125571194890654e-06,
                        "pitch": 0.4186086058616638,
                        "yaw": 9.20129108428955
                    }
                },
                "velocity": {
                    "x": 7.9204277992248535,
                    "y": 1.2827929258346558,
                    "z": 0.056225717067718506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.426957607269287,
                "transform": {
                    "location": {
                        "x": 2885.37451171875,
                        "y": 4245.06005859375,
                        "z": 360.40374755859375
                    },
                    "rotation": {
                        "roll": 0.000583713292144239,
                        "pitch": -0.3714871406555176,
                        "yaw": -170.690673828125
                    }
                },
                "velocity": {
                    "x": -4.368900775909424,
                    "y": -0.7139753699302673,
                    "z": -0.02995835803449154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.714033126831055,
                "transform": {
                    "location": {
                        "x": 2867.8271484375,
                        "y": 4242.22607421875,
                        "z": 360.2902526855469
                    },
                    "rotation": {
                        "roll": -0.002258303575217724,
                        "pitch": -0.4991433620452881,
                        "yaw": -170.60565185546875
                    }
                },
                "velocity": {
                    "x": -9.584184646606445,
                    "y": -1.581493616104126,
                    "z": -0.06872692704200745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.902935028076172,
                "transform": {
                    "location": {
                        "x": 2879.9609375,
                        "y": 4247.46533203125,
                        "z": 360.37457275390625
                    },
                    "rotation": {
                        "roll": 0.0008443831466138363,
                        "pitch": -0.37118661403656006,
                        "yaw": -170.82147216796875
                    }
                },
                "velocity": {
                    "x": -9.775714874267578,
                    "y": -1.580815076828003,
                    "z": -0.06738429516553879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.737968444824219,
                "transform": {
                    "location": {
                        "x": 2860.2958984375,
                        "y": 4244.283203125,
                        "z": 360.2347106933594
                    },
                    "rotation": {
                        "roll": 0.0007901948411017656,
                        "pitch": -0.4466806948184967,
                        "yaw": -170.81515502929688
                    }
                },
                "velocity": {
                    "x": -8.625386238098145,
                    "y": -1.3966692686080933,
                    "z": -0.0642286166548729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2590356171131134,
        "expert_target_speed": 10.0,
        "target_point": [
            14.460056209078063,
            -0.836165619160707
        ],
        "target_point_next": [
            55.86854249656029,
            -7.860183597747682
        ]
    },
    "360": {
        "acceleration": [
            0.8540725708007812,
            0.8522224426269531,
            0.024099797010421753
        ],
        "angular_velocity": [
            0.8922439217567444,
            0.01161592360585928,
            -3.583643913269043
        ],
        "forward_vector": [
            -0.9480761885643005,
            -0.31794965267181396,
            -0.007716698106378317
        ],
        "right_vector": [
            0.3179449439048767,
            -0.9481074213981628,
            0.0018662865040823817
        ],
        "location": [
            2901.2314453125,
            4248.80810546875,
            360.5156555175781
        ],
        "rotation": [
            -0.1069335862994194,
            -0.4421386122703552,
            -161.46044921875
        ],
        "velocity": [
            -11.819097518920898,
            -3.9384167194366455,
            -0.08383779227733612
        ],
        "speed": 12.458017194469601,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.501007080078125,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2884.180908203125,
                4244.86474609375,
                360.3957824707031
            ],
            "velocity": [
                -5.165898323059082,
                -0.8430991172790527,
                -0.03276386111974716
            ],
            "speed_kmh": 18.84365145584383,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012975692749023,
                "transform": {
                    "location": {
                        "x": 2934.806884765625,
                        "y": 4263.14013671875,
                        "z": 360.7713623046875
                    },
                    "rotation": {
                        "roll": 0.00239758868701756,
                        "pitch": 0.4237244129180908,
                        "yaw": 9.357013702392578
                    }
                },
                "velocity": {
                    "x": 7.909846782684326,
                    "y": 1.280023217201233,
                    "z": 0.0603562630712986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2973.224853515625,
                        "y": 4266.013671875,
                        "z": 361.0790100097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26574,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2975.12548828125,
                        "y": 4269.55126953125,
                        "z": 361.09814453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0300980806350708,
                "transform": {
                    "location": {
                        "x": 2954.4111328125,
                        "y": 4256.2236328125,
                        "z": 360.9025573730469
                    },
                    "rotation": {
                        "roll": -0.004608154296875,
                        "pitch": -0.4594394862651825,
                        "yaw": -170.3500518798828
                    }
                },
                "velocity": {
                    "x": -1.0164248943328857,
                    "y": -0.16713257133960724,
                    "z": -0.007018308620899916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.804643988609314,
                "transform": {
                    "location": {
                        "x": 2948.528076171875,
                        "y": 4258.556640625,
                        "z": 360.8602600097656
                    },
                    "rotation": {
                        "roll": -0.0025024402420967817,
                        "pitch": -0.41785046458244324,
                        "yaw": -170.16722106933594
                    }
                },
                "velocity": {
                    "x": -1.7813184261322021,
                    "y": -0.28888610005378723,
                    "z": -0.01376975979655981
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.565654993057251,
                "transform": {
                    "location": {
                        "x": 2847.257080078125,
                        "y": 4248.859375,
                        "z": 360.1667175292969
                    },
                    "rotation": {
                        "roll": -0.0020752004347741604,
                        "pitch": 0.48296263813972473,
                        "yaw": 9.200331687927246
                    }
                },
                "velocity": {
                    "x": 0.5531975626945496,
                    "y": 0.09554300457239151,
                    "z": 0.06935127079486847
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00033065068419091403,
                "transform": {
                    "location": {
                        "x": 2942.096923828125,
                        "y": 4254.22119140625,
                        "z": 360.8042907714844
                    },
                    "rotation": {
                        "roll": 0.005524832755327225,
                        "pitch": -0.5080567598342896,
                        "yaw": -171.3256072998047
                    }
                },
                "velocity": {
                    "x": 0.00014028973237145692,
                    "y": 0.0001979533553821966,
                    "z": -0.0002246400254080072
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.397673606872559,
                "transform": {
                    "location": {
                        "x": 2928.046875,
                        "y": 4255.3134765625,
                        "z": 360.7151184082031
                    },
                    "rotation": {
                        "roll": 0.012329828925430775,
                        "pitch": -0.24288834631443024,
                        "yaw": -170.13278198242188
                    }
                },
                "velocity": {
                    "x": -9.259330749511719,
                    "y": -1.6051039695739746,
                    "z": -0.06847327202558517
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.038559913635254,
                "transform": {
                    "location": {
                        "x": 2887.100341796875,
                        "y": 4252.11572265625,
                        "z": 360.4213562011719
                    },
                    "rotation": {
                        "roll": 0.0004504126845858991,
                        "pitch": 0.39038628339767456,
                        "yaw": 9.201458930969238
                    }
                },
                "velocity": {
                    "x": 7.934861660003662,
                    "y": 1.285923719406128,
                    "z": 0.053016841411590576
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055660247802734,
                "transform": {
                    "location": {
                        "x": 2892.3603515625,
                        "y": 4256.25927734375,
                        "z": 360.4630126953125
                    },
                    "rotation": {
                        "roll": 2.0911265892209485e-06,
                        "pitch": 0.3892797827720642,
                        "yaw": 9.199366569519043
                    }
                },
                "velocity": {
                    "x": 7.951897621154785,
                    "y": 1.287597894668579,
                    "z": 0.05551794916391373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027199745178223,
                "transform": {
                    "location": {
                        "x": 2929.05419921875,
                        "y": 4258.9033203125,
                        "z": 360.75994873046875
                    },
                    "rotation": {
                        "roll": -0.0013427718076854944,
                        "pitch": 0.4196126461029053,
                        "yaw": 9.174047470092773
                    }
                },
                "velocity": {
                    "x": 7.9240288734436035,
                    "y": 1.2815661430358887,
                    "z": 0.057289447635412216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.234347820281982,
                "transform": {
                    "location": {
                        "x": 2884.180908203125,
                        "y": 4244.86474609375,
                        "z": 360.3957824707031
                    },
                    "rotation": {
                        "roll": 0.000530588033143431,
                        "pitch": -0.3707562983036041,
                        "yaw": -170.71022033691406
                    }
                },
                "velocity": {
                    "x": -5.165898323059082,
                    "y": -0.8430991172790527,
                    "z": -0.03276386111974716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.814406394958496,
                "transform": {
                    "location": {
                        "x": 2865.381103515625,
                        "y": 4241.82421875,
                        "z": 360.2718811035156
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": -0.4374394416809082,
                        "yaw": -170.68309020996094
                    }
                },
                "velocity": {
                    "x": -9.685722351074219,
                    "y": -1.582460880279541,
                    "z": -0.07192899286746979
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.534123420715332,
                "transform": {
                    "location": {
                        "x": 2877.690185546875,
                        "y": 4247.09814453125,
                        "z": 360.3585510253906
                    },
                    "rotation": {
                        "roll": -0.00042724725790321827,
                        "pitch": -0.5582244992256165,
                        "yaw": -170.8009033203125
                    }
                },
                "velocity": {
                    "x": -8.424470901489258,
                    "y": -1.3623206615447998,
                    "z": -0.06027111038565636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.231937408447266,
                "transform": {
                    "location": {
                        "x": 2858.1884765625,
                        "y": 4243.94189453125,
                        "z": 360.21881103515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.5159251689910889,
                        "yaw": -170.79562377929688
                    }
                },
                "velocity": {
                    "x": -8.1259765625,
                    "y": -1.3150588274002075,
                    "z": -0.06270509213209152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15099234879016876,
        "expert_target_speed": 10.0,
        "target_point": [
            11.321356447176687,
            -0.7710909406328041
        ],
        "target_point_next": [
            52.76360689950139,
            -7.593073250116561
        ]
    },
    "365": {
        "acceleration": [
            1.4003372192382812,
            1.3868284225463867,
            0.006266385316848755
        ],
        "angular_velocity": [
            0.8101527094841003,
            -0.030138561502099037,
            -2.9083471298217773
        ],
        "forward_vector": [
            -0.9527428150177002,
            -0.30364570021629333,
            -0.008968351408839226
        ],
        "right_vector": [
            0.3036714196205139,
            -0.9527754783630371,
            -0.0016252840869128704
        ],
        "location": [
            2898.314697265625,
            4247.859375,
            360.4952697753906
        ],
        "rotation": [
            0.09312570840120316,
            -0.5138555765151978,
            -162.3225555419922
        ],
        "velocity": [
            -11.512438774108887,
            -3.635324716567993,
            -0.08305591344833374
        ],
        "speed": 12.072772354455124,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.795379638671875,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2882.849609375,
                4244.64794921875,
                360.38665771484375
            ],
            "velocity": [
                -5.6496782302856445,
                -0.9224737286567688,
                -0.03939960524439812
            ],
            "speed_kmh": 20.608663465221525,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078400611877441,
                "transform": {
                    "location": {
                        "x": 2936.792724609375,
                        "y": 4263.46142578125,
                        "z": 360.7861633300781
                    },
                    "rotation": {
                        "roll": 0.0009487821953371167,
                        "pitch": 0.4263130724430084,
                        "yaw": 9.341218948364258
                    }
                },
                "velocity": {
                    "x": 7.974256992340088,
                    "y": 1.2915643453598022,
                    "z": 0.060376767069101334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26575,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2975.287841796875,
                        "y": 4266.2958984375,
                        "z": 361.0953674316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9006157517433167,
                "transform": {
                    "location": {
                        "x": 2954.262451171875,
                        "y": 4256.19873046875,
                        "z": 360.90130615234375
                    },
                    "rotation": {
                        "roll": -0.003540043719112873,
                        "pitch": -0.4624037742614746,
                        "yaw": -170.3989715576172
                    }
                },
                "velocity": {
                    "x": -0.8888533115386963,
                    "y": -0.1449282169342041,
                    "z": -0.006658668164163828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3570022583007812,
                "transform": {
                    "location": {
                        "x": 2948.012939453125,
                        "y": 4258.4716796875,
                        "z": 360.8562927246094
                    },
                    "rotation": {
                        "roll": -0.0018920921720564365,
                        "pitch": -0.41543257236480713,
                        "yaw": -170.3306121826172
                    }
                },
                "velocity": {
                    "x": -2.326608657836914,
                    "y": -0.37688595056533813,
                    "z": -0.017573919147253036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6589301824569702,
                "transform": {
                    "location": {
                        "x": 2847.561279296875,
                        "y": 4248.91064453125,
                        "z": 360.1761169433594
                    },
                    "rotation": {
                        "roll": -0.003143316600471735,
                        "pitch": 0.545212984085083,
                        "yaw": 9.297377586364746
                    }
                },
                "velocity": {
                    "x": 1.634432077407837,
                    "y": 0.2830023467540741,
                    "z": 0.024313392117619514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2847.75048828125,
                        "y": 4245.646484375,
                        "z": 360.3363952636719
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 2.678967714331293e-09,
                    "y": 4.334948233708502e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016764518804848194,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.22119140625,
                        "z": 360.8038635253906
                    },
                    "rotation": {
                        "roll": 0.00253909919410944,
                        "pitch": -0.4450756013393402,
                        "yaw": -171.3256072998047
                    }
                },
                "velocity": {
                    "x": 4.7457069740630686e-05,
                    "y": 4.594851270667277e-05,
                    "z": 0.0016751500079408288
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.11596393585205,
                "transform": {
                    "location": {
                        "x": 2925.4833984375,
                        "y": 4254.87158203125,
                        "z": 360.6963195800781
                    },
                    "rotation": {
                        "roll": 0.020897792652249336,
                        "pitch": -0.12884467840194702,
                        "yaw": -170.276611328125
                    }
                },
                "velocity": {
                    "x": -10.95868968963623,
                    "y": -1.8615220785140991,
                    "z": -0.08064913749694824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988861560821533,
                "transform": {
                    "location": {
                        "x": 2889.077392578125,
                        "y": 4252.43603515625,
                        "z": 360.43499755859375
                    },
                    "rotation": {
                        "roll": 0.0005981489084661007,
                        "pitch": 0.38926613330841064,
                        "yaw": 9.196322441101074
                    }
                },
                "velocity": {
                    "x": 7.88605260848999,
                    "y": 1.2764159440994263,
                    "z": 0.05336310341954231
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069437026977539,
                "transform": {
                    "location": {
                        "x": 2894.349365234375,
                        "y": 4256.5810546875,
                        "z": 360.47674560546875
                    },
                    "rotation": {
                        "roll": 0.0008949789335019886,
                        "pitch": 0.38985350728034973,
                        "yaw": 9.197219848632812
                    }
                },
                "velocity": {
                    "x": 7.965485572814941,
                    "y": 1.2898131608963013,
                    "z": 0.05677903816103935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.022515296936035,
                "transform": {
                    "location": {
                        "x": 2931.03466796875,
                        "y": 4259.22314453125,
                        "z": 360.7745666503906
                    },
                    "rotation": {
                        "roll": -0.0001831060362746939,
                        "pitch": 0.4214431345462799,
                        "yaw": 9.2050199508667
                    }
                },
                "velocity": {
                    "x": 7.919281482696533,
                    "y": 1.2815601825714111,
                    "z": 0.05782710015773773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.724628925323486,
                "transform": {
                    "location": {
                        "x": 2882.849609375,
                        "y": 4244.64794921875,
                        "z": 360.38665771484375
                    },
                    "rotation": {
                        "roll": 0.00016323769523296505,
                        "pitch": -0.3759472370147705,
                        "yaw": -170.72274780273438
                    }
                },
                "velocity": {
                    "x": -5.6496782302856445,
                    "y": -0.9224737286567688,
                    "z": -0.03939960524439812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.007497787475586,
                "transform": {
                    "location": {
                        "x": 2863.06396484375,
                        "y": 4241.4453125,
                        "z": 360.25396728515625
                    },
                    "rotation": {
                        "roll": -0.001739501254633069,
                        "pitch": -0.3596777319908142,
                        "yaw": -170.71685791015625
                    }
                },
                "velocity": {
                    "x": -8.889304161071777,
                    "y": -1.4528530836105347,
                    "z": -0.06711038202047348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.457565307617188,
                "transform": {
                    "location": {
                        "x": 2875.62890625,
                        "y": 4246.76513671875,
                        "z": 360.34417724609375
                    },
                    "rotation": {
                        "roll": 5.464652713271789e-05,
                        "pitch": -0.4487570524215698,
                        "yaw": -170.82391357421875
                    }
                },
                "velocity": {
                    "x": -8.348759651184082,
                    "y": -1.3510627746582031,
                    "z": -0.05710155889391899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.652612686157227,
                "transform": {
                    "location": {
                        "x": 2856.2421875,
                        "y": 4243.626953125,
                        "z": 360.2040100097656
                    },
                    "rotation": {
                        "roll": 0.0002563073649071157,
                        "pitch": -0.5519065856933594,
                        "yaw": -170.82199096679688
                    }
                },
                "velocity": {
                    "x": -7.554098129272461,
                    "y": -1.2225674390792847,
                    "z": -0.0583871454000473
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0041318912990391254,
        "expert_target_speed": 10.0,
        "target_point": [
            8.264564753021768,
            -0.618901439035562
        ],
        "target_point_next": [
            49.804767771845626,
            -6.816570221651586
        ]
    },
    "370": {
        "acceleration": [
            1.8944358825683594,
            1.8885326385498047,
            -0.0009590387344360352
        ],
        "angular_velocity": [
            0.6860880851745605,
            -0.0667601078748703,
            -6.984318733215332
        ],
        "forward_vector": [
            -0.9588755965232849,
            -0.2836516499519348,
            -0.009963823482394218
        ],
        "right_vector": [
            0.283703476190567,
            -0.9589027762413025,
            -0.004212501924484968
        ],
        "location": [
            2895.486083984375,
            4246.99658203125,
            360.4754943847656
        ],
        "rotation": [
            0.2413712739944458,
            -0.5708944797515869,
            -163.52088928222656
        ],
        "velocity": [
            -11.12032699584961,
            -3.2415578365325928,
            -0.07877810299396515
        ],
        "speed": 11.583150249487721,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.38290786743164,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2881.339599609375,
                4244.4013671875,
                360.3761291503906
            ],
            "velocity": [
                -6.530421733856201,
                -1.0633318424224854,
                -0.04565901309251785
            ],
            "speed_kmh": 23.819697923670542,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012730598449707,
                "transform": {
                    "location": {
                        "x": 2938.77783203125,
                        "y": 4263.78271484375,
                        "z": 360.8009948730469
                    },
                    "rotation": {
                        "roll": 0.002103665843605995,
                        "pitch": 0.42467382550239563,
                        "yaw": 9.362398147583008
                    }
                },
                "velocity": {
                    "x": 7.909426212310791,
                    "y": 1.2810543775558472,
                    "z": 0.06107061356306076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4686472415924072,
                "transform": {
                    "location": {
                        "x": 2953.958740234375,
                        "y": 4256.14892578125,
                        "z": 360.89862060546875
                    },
                    "rotation": {
                        "roll": -0.0033874495420604944,
                        "pitch": -0.43163377046585083,
                        "yaw": -170.41111755371094
                    }
                },
                "velocity": {
                    "x": -1.449555516242981,
                    "y": -0.23582662642002106,
                    "z": -0.009961080737411976
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.938744306564331,
                "transform": {
                    "location": {
                        "x": 2947.356689453125,
                        "y": 4258.36376953125,
                        "z": 360.8511962890625
                    },
                    "rotation": {
                        "roll": -0.0012817407259717584,
                        "pitch": -0.4119560122489929,
                        "yaw": -170.48971557617188
                    }
                },
                "velocity": {
                    "x": -2.901148557662964,
                    "y": -0.46804264187812805,
                    "z": -0.022154973819851875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7298943996429443,
                "transform": {
                    "location": {
                        "x": 2848.104248046875,
                        "y": 4249.00341796875,
                        "z": 360.1815490722656
                    },
                    "rotation": {
                        "roll": -0.000823976646643132,
                        "pitch": 0.5533067584037781,
                        "yaw": 9.420814514160156
                    }
                },
                "velocity": {
                    "x": 2.6897969245910645,
                    "y": 0.4656457006931305,
                    "z": 0.022127656266093254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10909294337034225,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.0983581542969
                    },
                    "rotation": {
                        "roll": -0.00045776308979839087,
                        "pitch": 0.44360026717185974,
                        "yaw": 9.191665649414062
                    }
                },
                "velocity": {
                    "x": -0.0007819331949576735,
                    "y": -0.0005116915563121438,
                    "z": 0.1090889424085617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013496846659108996,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.22119140625,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0025944444350898266,
                        "pitch": -0.43047264218330383,
                        "yaw": -171.3256378173828
                    }
                },
                "velocity": {
                    "x": 5.766898084402783e-06,
                    "y": -5.358806811273098e-05,
                    "z": 0.0013486080570146441
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.225750923156738,
                "transform": {
                    "location": {
                        "x": 2922.59716796875,
                        "y": 4254.38720703125,
                        "z": 360.67523193359375
                    },
                    "rotation": {
                        "roll": 0.02433650754392147,
                        "pitch": -0.1644572913646698,
                        "yaw": -170.5247802734375
                    }
                },
                "velocity": {
                    "x": -12.0588960647583,
                    "y": -2.011037588119507,
                    "z": -0.08792375028133392
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.014582633972168,
                "transform": {
                    "location": {
                        "x": 2891.052001953125,
                        "y": 4252.75537109375,
                        "z": 360.4485778808594
                    },
                    "rotation": {
                        "roll": -6.1032886151224375e-05,
                        "pitch": 0.38974422216415405,
                        "yaw": 9.18882942199707
                    }
                },
                "velocity": {
                    "x": 7.91155481338501,
                    "y": 1.2798595428466797,
                    "z": 0.052845075726509094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049821853637695,
                "transform": {
                    "location": {
                        "x": 2896.338134765625,
                        "y": 4256.90283203125,
                        "z": 360.49041748046875
                    },
                    "rotation": {
                        "roll": -0.0002746547106653452,
                        "pitch": 0.391663521528244,
                        "yaw": 9.197189331054688
                    }
                },
                "velocity": {
                    "x": 7.94614315032959,
                    "y": 1.286573886871338,
                    "z": 0.05636173114180565
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025760650634766,
                "transform": {
                    "location": {
                        "x": 2933.014892578125,
                        "y": 4259.5439453125,
                        "z": 360.7892150878906
                    },
                    "rotation": {
                        "roll": -0.0006103480118326843,
                        "pitch": 0.42310288548469543,
                        "yaw": 9.181544303894043
                    }
                },
                "velocity": {
                    "x": 7.922410011291504,
                    "y": 1.2824550867080688,
                    "z": 0.05960363149642944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.616582870483398,
                "transform": {
                    "location": {
                        "x": 2881.339599609375,
                        "y": 4244.4013671875,
                        "z": 360.3761291503906
                    },
                    "rotation": {
                        "roll": -0.0009460410801693797,
                        "pitch": -0.37173303961753845,
                        "yaw": -170.7303466796875
                    }
                },
                "velocity": {
                    "x": -6.530421733856201,
                    "y": -1.0633318424224854,
                    "z": -0.04565901309251785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.6077299118042,
                "transform": {
                    "location": {
                        "x": 2860.900146484375,
                        "y": 4241.09326171875,
                        "z": 360.2379150390625
                    },
                    "rotation": {
                        "roll": -0.0017700167372822762,
                        "pitch": -0.37201306223869324,
                        "yaw": -170.74819946289062
                    }
                },
                "velocity": {
                    "x": -8.495956420898438,
                    "y": -1.3811756372451782,
                    "z": -0.0640101209282875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.29824447631836,
                "transform": {
                    "location": {
                        "x": 2873.4287109375,
                        "y": 4246.40869140625,
                        "z": 360.3290100097656
                    },
                    "rotation": {
                        "roll": -0.0003662092494778335,
                        "pitch": -0.31164786219596863,
                        "yaw": -170.7893829345703
                    }
                },
                "velocity": {
                    "x": -9.178557395935059,
                    "y": -1.4856727123260498,
                    "z": -0.06491569429636002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.455626487731934,
                "transform": {
                    "location": {
                        "x": 2854.378662109375,
                        "y": 4243.32568359375,
                        "z": 360.18963623046875
                    },
                    "rotation": {
                        "roll": 0.00032155789085663855,
                        "pitch": -0.4969508647918701,
                        "yaw": -170.8021697998047
                    }
                },
                "velocity": {
                    "x": -7.359870910644531,
                    "y": -1.1897133588790894,
                    "z": -0.056963905692100525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.15352220833301544,
        "expert_target_speed": 10.0,
        "target_point": [
            46.97926553147304,
            -5.798459645859502
        ],
        "target_point_next": [
            46.97926553147304,
            -5.798459645859502
        ]
    },
    "375": {
        "acceleration": [
            -0.3079032897949219,
            1.7564964294433594,
            -0.010800808668136597
        ],
        "angular_velocity": [
            0.6176572442054749,
            0.6372559070587158,
            -7.215404510498047
        ],
        "forward_vector": [
            -0.9675041437149048,
            -0.25262969732284546,
            -0.010674272663891315
        ],
        "right_vector": [
            0.2527153193950653,
            -0.9675108194351196,
            -0.007603165693581104
        ],
        "location": [
            2892.770263671875,
            4246.2509765625,
            360.4566650390625
        ],
        "rotation": [
            0.4356583058834076,
            -0.6116024255752563,
            -165.365966796875
        ],
        "velocity": [
            -10.750968933105469,
            -2.7162065505981445,
            -0.07573267072439194
        ],
        "speed": 11.088783117462043,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.366068840026855,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2879.576416015625,
                4244.1142578125,
                360.3638610839844
            ],
            "velocity": [
                -7.4681830406188965,
                -1.214552402496338,
                -0.05111335590481758
            ],
            "speed_kmh": 27.239301463530033,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078499794006348,
                "transform": {
                    "location": {
                        "x": 2940.763671875,
                        "y": 4264.10400390625,
                        "z": 360.81585693359375
                    },
                    "rotation": {
                        "roll": 0.0008534271619282663,
                        "pitch": 0.42729660868644714,
                        "yaw": 9.32964038848877
                    }
                },
                "velocity": {
                    "x": 7.974473476409912,
                    "y": 1.2908222675323486,
                    "z": 0.060884978622198105
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0089468955993652,
                "transform": {
                    "location": {
                        "x": 2953.529296875,
                        "y": 4256.07861328125,
                        "z": 360.8952331542969
                    },
                    "rotation": {
                        "roll": -0.002410893328487873,
                        "pitch": -0.42681849002838135,
                        "yaw": -170.4832305908203
                    }
                },
                "velocity": {
                    "x": -1.9828373193740845,
                    "y": -0.3224702477455139,
                    "z": -0.015395641326904297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.596623659133911,
                "transform": {
                    "location": {
                        "x": 2946.55126953125,
                        "y": 4258.23291015625,
                        "z": 360.84490966796875
                    },
                    "rotation": {
                        "roll": 0.0006952961557544768,
                        "pitch": -0.40799450874328613,
                        "yaw": -170.6304473876953
                    }
                },
                "velocity": {
                    "x": -3.5508391857147217,
                    "y": -0.5714724063873291,
                    "z": -0.025719808414578438
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.098781585693359,
                "transform": {
                    "location": {
                        "x": 2848.953125,
                        "y": 4249.14892578125,
                        "z": 360.1880798339844
                    },
                    "rotation": {
                        "roll": -0.00015258656640071422,
                        "pitch": 0.5825058221817017,
                        "yaw": 9.570392608642578
                    }
                },
                "velocity": {
                    "x": 4.0384697914123535,
                    "y": 0.6998566389083862,
                    "z": 0.03119746223092079
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7820026278495789,
                "transform": {
                    "location": {
                        "x": 2847.788330078125,
                        "y": 4245.65283203125,
                        "z": 360.1302795410156
                    },
                    "rotation": {
                        "roll": -0.0018920882139354944,
                        "pitch": 0.534796953201294,
                        "yaw": 9.202908515930176
                    }
                },
                "velocity": {
                    "x": 0.7667083740234375,
                    "y": 0.1295686662197113,
                    "z": 0.08305591344833374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007717886473983526,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.002188048791140318,
                        "pitch": -0.42575299739837646,
                        "yaw": -171.32566833496094
                    }
                },
                "velocity": {
                    "x": -2.7099995349999517e-06,
                    "y": -4.6227498387452215e-05,
                    "z": 0.0007703982410021126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.25131893157959,
                "transform": {
                    "location": {
                        "x": 2919.449951171875,
                        "y": 4253.8662109375,
                        "z": 360.6523742675781
                    },
                    "rotation": {
                        "roll": 0.022868389263749123,
                        "pitch": -0.18701057136058807,
                        "yaw": -170.65817260742188
                    }
                },
                "velocity": {
                    "x": -13.075531005859375,
                    "y": -2.149196147918701,
                    "z": -0.09429612755775452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986755847930908,
                "transform": {
                    "location": {
                        "x": 2893.026123046875,
                        "y": 4253.07470703125,
                        "z": 360.4621276855469
                    },
                    "rotation": {
                        "roll": -0.0009460429428145289,
                        "pitch": 0.3893480896949768,
                        "yaw": 9.186534881591797
                    }
                },
                "velocity": {
                    "x": 7.884005546569824,
                    "y": 1.2758874893188477,
                    "z": 0.05325138941407204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078315734863281,
                "transform": {
                    "location": {
                        "x": 2898.32861328125,
                        "y": 4257.22509765625,
                        "z": 360.5043029785156
                    },
                    "rotation": {
                        "roll": 0.00025321319117210805,
                        "pitch": 0.39268121123313904,
                        "yaw": 9.190073013305664
                    }
                },
                "velocity": {
                    "x": 7.974426746368408,
                    "y": 1.2901501655578613,
                    "z": 0.05667875334620476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024945259094238,
                "transform": {
                    "location": {
                        "x": 2934.99560546875,
                        "y": 4259.86376953125,
                        "z": 360.8040466308594
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": 0.42422303557395935,
                        "yaw": 9.213057518005371
                    }
                },
                "velocity": {
                    "x": 7.921212673187256,
                    "y": 1.2847027778625488,
                    "z": 0.060605619102716446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.56647253036499,
                "transform": {
                    "location": {
                        "x": 2879.576416015625,
                        "y": 4244.1142578125,
                        "z": 360.3638610839844
                    },
                    "rotation": {
                        "roll": 0.000422533368691802,
                        "pitch": -0.3703260123729706,
                        "yaw": -170.74569702148438
                    }
                },
                "velocity": {
                    "x": -7.4681830406188965,
                    "y": -1.214552402496338,
                    "z": -0.05111335590481758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.213577270507812,
                "transform": {
                    "location": {
                        "x": 2858.82470703125,
                        "y": 4240.75537109375,
                        "z": 360.2224426269531
                    },
                    "rotation": {
                        "roll": -0.001220707781612873,
                        "pitch": -0.3901677131652832,
                        "yaw": -170.76895141601562
                    }
                },
                "velocity": {
                    "x": -8.10725212097168,
                    "y": -1.3157798051834106,
                    "z": -0.06353063136339188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.989710807800293,
                "transform": {
                    "location": {
                        "x": 2871.033447265625,
                        "y": 4246.02099609375,
                        "z": 360.31195068359375
                    },
                    "rotation": {
                        "roll": 0.0005486872396431863,
                        "pitch": -0.30148452520370483,
                        "yaw": -170.80926513671875
                    }
                },
                "velocity": {
                    "x": -9.86087417602539,
                    "y": -1.5976903438568115,
                    "z": -0.06975347548723221
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.054153919219971,
                "transform": {
                    "location": {
                        "x": 2852.5859375,
                        "y": 4243.03564453125,
                        "z": 360.17584228515625
                    },
                    "rotation": {
                        "roll": -0.00027465602033771574,
                        "pitch": -0.5145522952079773,
                        "yaw": -170.82772827148438
                    }
                },
                "velocity": {
                    "x": -6.963464260101318,
                    "y": -1.126233458518982,
                    "z": -0.05339714512228966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.24501730501651764,
        "expert_target_speed": 10.0,
        "target_point": [
            44.32551248221703,
            -4.31813729663203
        ],
        "target_point_next": [
            44.32551248221703,
            -4.31813729663203
        ]
    },
    "380": {
        "acceleration": [
            5.704135894775391,
            2.814943790435791,
            0.055348873138427734
        ],
        "angular_velocity": [
            0.2861781418323517,
            -0.9441621899604797,
            -9.722090721130371
        ],
        "forward_vector": [
            -0.9765104055404663,
            -0.2148827761411667,
            -0.015901608392596245
        ],
        "right_vector": [
            0.2150452733039856,
            -0.9765596389770508,
            -0.009313812479376793
        ],
        "location": [
            2890.26904296875,
            4245.666015625,
            360.4403381347656
        ],
        "rotation": [
            0.5337173342704773,
            -0.9111335277557373,
            -167.58975219726562
        ],
        "velocity": [
            -9.209616661071777,
            -1.9293922185897827,
            -0.06360945850610733
        ],
        "speed": 9.409547990049559,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.805455207824707,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2877.6015625,
                4243.79345703125,
                360.35009765625
            ],
            "velocity": [
                -8.289712905883789,
                -1.3467954397201538,
                -0.05737335607409477
            ],
            "speed_kmh": 30.234961663223114,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013483047485352,
                "transform": {
                    "location": {
                        "x": 2942.7490234375,
                        "y": 4264.42529296875,
                        "z": 360.8307800292969
                    },
                    "rotation": {
                        "roll": -0.000854491489008069,
                        "pitch": 0.43095076084136963,
                        "yaw": 9.36559009552002
                    }
                },
                "velocity": {
                    "x": 7.9100213050842285,
                    "y": 1.2821160554885864,
                    "z": 0.06044074892997742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06882832199335098,
                "transform": {
                    "location": {
                        "x": 2953.153076171875,
                        "y": 4256.0166015625,
                        "z": 360.89288330078125
                    },
                    "rotation": {
                        "roll": -0.0032653806265443563,
                        "pitch": -0.4913569390773773,
                        "yaw": -170.5392608642578
                    }
                },
                "velocity": {
                    "x": -0.06789055466651917,
                    "y": -0.011281422339379787,
                    "z": -0.0009693431784398854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.471028804779053,
                "transform": {
                    "location": {
                        "x": 2945.554931640625,
                        "y": 4258.0712890625,
                        "z": 360.83740234375
                    },
                    "rotation": {
                        "roll": -0.00033569804509170353,
                        "pitch": -0.4025235176086426,
                        "yaw": -170.7361602783203
                    }
                },
                "velocity": {
                    "x": -4.413851737976074,
                    "y": -0.7119448781013489,
                    "z": -0.033826928585767746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.307094573974609,
                "transform": {
                    "location": {
                        "x": 2850.127685546875,
                        "y": 4249.3515625,
                        "z": 360.1974182128906
                    },
                    "rotation": {
                        "roll": 0.0004330354568082839,
                        "pitch": 0.579876184463501,
                        "yaw": 9.704257011413574
                    }
                },
                "velocity": {
                    "x": 5.228827953338623,
                    "y": 0.9070737361907959,
                    "z": 0.042799197137355804
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.971550703048706,
                "transform": {
                    "location": {
                        "x": 2848.152099609375,
                        "y": 4245.71435546875,
                        "z": 360.1424255371094
                    },
                    "rotation": {
                        "roll": -0.0032653766684234142,
                        "pitch": 0.6169982552528381,
                        "yaw": 9.345806121826172
                    }
                },
                "velocity": {
                    "x": 1.9433012008666992,
                    "y": 0.3313010632991791,
                    "z": 0.02884678728878498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012130570830777287,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.002794531174004078,
                        "pitch": -0.4244074523448944,
                        "yaw": -171.32574462890625
                    }
                },
                "velocity": {
                    "x": -1.981355126190465e-05,
                    "y": -1.1079059731855523e-05,
                    "z": 0.0012128446251153946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.853790283203125,
                "transform": {
                    "location": {
                        "x": 2916.075927734375,
                        "y": 4253.3134765625,
                        "z": 360.6280517578125
                    },
                    "rotation": {
                        "roll": 0.01479509100317955,
                        "pitch": -0.26211532950401306,
                        "yaw": -170.72943115234375
                    }
                },
                "velocity": {
                    "x": -13.672369003295898,
                    "y": -2.2324743270874023,
                    "z": -0.09946094453334808
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.020713806152344,
                "transform": {
                    "location": {
                        "x": 2895.001708984375,
                        "y": 4253.39404296875,
                        "z": 360.4757385253906
                    },
                    "rotation": {
                        "roll": -6.103622581576928e-05,
                        "pitch": 0.39114442467689514,
                        "yaw": 9.184399604797363
                    }
                },
                "velocity": {
                    "x": 7.917725563049316,
                    "y": 1.2800832986831665,
                    "z": 0.053504884243011475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043495178222656,
                "transform": {
                    "location": {
                        "x": 2900.317626953125,
                        "y": 4257.54638671875,
                        "z": 360.5180358886719
                    },
                    "rotation": {
                        "roll": -0.0011596690164878964,
                        "pitch": 0.39601433277130127,
                        "yaw": 9.188990592956543
                    }
                },
                "velocity": {
                    "x": 7.940072536468506,
                    "y": 1.2844719886779785,
                    "z": 0.056513890624046326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024410247802734,
                "transform": {
                    "location": {
                        "x": 2936.9755859375,
                        "y": 4260.1845703125,
                        "z": 360.8188171386719
                    },
                    "rotation": {
                        "roll": 0.0005602843011729419,
                        "pitch": 0.42463967204093933,
                        "yaw": 9.182455062866211
                    }
                },
                "velocity": {
                    "x": 7.9210944175720215,
                    "y": 1.2821030616760254,
                    "z": 0.06027882546186447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.398600578308105,
                "transform": {
                    "location": {
                        "x": 2877.6015625,
                        "y": 4243.79345703125,
                        "z": 360.35009765625
                    },
                    "rotation": {
                        "roll": 0.00044485231046564877,
                        "pitch": -0.37579697370529175,
                        "yaw": -170.76876831054688
                    }
                },
                "velocity": {
                    "x": -8.289712905883789,
                    "y": -1.3467954397201538,
                    "z": -0.05737335607409477
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.935281276702881,
                "transform": {
                    "location": {
                        "x": 2856.842529296875,
                        "y": 4240.43408203125,
                        "z": 360.20733642578125
                    },
                    "rotation": {
                        "roll": 0.000325699191307649,
                        "pitch": -0.39980509877204895,
                        "yaw": -170.78030395507812
                    }
                },
                "velocity": {
                    "x": -7.832529544830322,
                    "y": -1.2714195251464844,
                    "z": -0.06051928550004959
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.897676467895508,
                "transform": {
                    "location": {
                        "x": 2868.6884765625,
                        "y": 4245.64111328125,
                        "z": 360.2947692871094
                    },
                    "rotation": {
                        "roll": 0.00035738851875066757,
                        "pitch": -0.5114445090293884,
                        "yaw": -170.78741455078125
                    }
                },
                "velocity": {
                    "x": -8.783021926879883,
                    "y": -1.422356367111206,
                    "z": -0.0638594776391983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.672926902770996,
                "transform": {
                    "location": {
                        "x": 2850.898681640625,
                        "y": 4242.76220703125,
                        "z": 360.1628723144531
                    },
                    "rotation": {
                        "roll": 0.000280489563010633,
                        "pitch": -0.5206311345100403,
                        "yaw": -170.79562377929688
                    }
                },
                "velocity": {
                    "x": -6.586948871612549,
                    "y": -1.0664619207382202,
                    "z": -0.05209938436746597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2953818142414093,
        "expert_target_speed": 8.947168301319318,
        "target_point": [
            41.89119444706781,
            -2.6287041321676314
        ],
        "target_point_next": [
            41.89119444706781,
            -2.6287041321676314
        ]
    },
    "385": {
        "acceleration": [
            3.4217071533203125,
            1.480867862701416,
            0.031377822160720825
        ],
        "angular_velocity": [
            -0.46507319808006287,
            0.29860877990722656,
            -3.537801742553711
        ],
        "forward_vector": [
            -0.9827220439910889,
            -0.18440614640712738,
            -0.01586752012372017
        ],
        "right_vector": [
            0.18454672396183014,
            -0.9827920198440552,
            -0.007893074303865433
        ],
        "location": [
            2888.10205078125,
            4245.24169921875,
            360.42529296875
        ],
        "rotation": [
            0.4523015022277832,
            -0.9091801047325134,
            -169.37213134765625
        ],
        "velocity": [
            -8.238722801208496,
            -1.4621801376342773,
            -0.0574154257774353
        ],
        "speed": 8.367468204304393,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.797574043273926,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2875.43212890625,
                4243.44091796875,
                360.3349609375
            ],
            "velocity": [
                -9.041892051696777,
                -1.466647744178772,
                -0.06189082935452461
            ],
            "speed_kmh": 32.977001766294805,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078189849853516,
                "transform": {
                    "location": {
                        "x": 2944.73486328125,
                        "y": 4264.74658203125,
                        "z": 360.8458557128906
                    },
                    "rotation": {
                        "roll": 0.0014170481590554118,
                        "pitch": 0.4345366060733795,
                        "yaw": 9.33548355102539
                    }
                },
                "velocity": {
                    "x": 7.974531650543213,
                    "y": 1.2885297536849976,
                    "z": 0.06069890782237053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8848304748535156,
                "transform": {
                    "location": {
                        "x": 2953.005615234375,
                        "y": 4255.99267578125,
                        "z": 360.8912353515625
                    },
                    "rotation": {
                        "roll": -0.0025024432688951492,
                        "pitch": -0.4476300776004791,
                        "yaw": -170.55615234375
                    }
                },
                "velocity": {
                    "x": -0.8733435869216919,
                    "y": -0.14197790622711182,
                    "z": -0.006177110597491264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.213858127593994,
                "transform": {
                    "location": {
                        "x": 2944.330810546875,
                        "y": 4257.87353515625,
                        "z": 360.8283386230469
                    },
                    "rotation": {
                        "roll": 0.0015656320611014962,
                        "pitch": -0.39977094531059265,
                        "yaw": -170.80096435546875
                    }
                },
                "velocity": {
                    "x": -5.147319316864014,
                    "y": -0.8294785022735596,
                    "z": -0.037210363894701004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.637353897094727,
                "transform": {
                    "location": {
                        "x": 2851.447998046875,
                        "y": 4249.58056640625,
                        "z": 360.20831298828125
                    },
                    "rotation": {
                        "roll": 0.0037308726459741592,
                        "pitch": 0.5006392002105713,
                        "yaw": 9.692719459533691
                    }
                },
                "velocity": {
                    "x": 5.554065227508545,
                    "y": 0.96454918384552,
                    "z": 0.04196435958147049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.349628210067749,
                "transform": {
                    "location": {
                        "x": 2848.805908203125,
                        "y": 4245.82666015625,
                        "z": 360.1490478515625
                    },
                    "rotation": {
                        "roll": -0.000518804183229804,
                        "pitch": 0.6496943831443787,
                        "yaw": 9.536784172058105
                    }
                },
                "velocity": {
                    "x": 3.30145001411438,
                    "y": 0.5654528737068176,
                    "z": 0.0264754481613636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00144305475987494,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.002794531174004078,
                        "pitch": -0.4244074523448944,
                        "yaw": -171.32574462890625
                    }
                },
                "velocity": {
                    "x": -2.926252636825666e-05,
                    "y": -6.634089913859498e-06,
                    "z": 0.0014427427668124437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.899652481079102,
                "transform": {
                    "location": {
                        "x": 2912.5205078125,
                        "y": 4252.7353515625,
                        "z": 360.6025390625
                    },
                    "rotation": {
                        "roll": 0.010015547275543213,
                        "pitch": -0.21255546808242798,
                        "yaw": -170.7823944091797
                    }
                },
                "velocity": {
                    "x": -14.706817626953125,
                    "y": -2.3870949745178223,
                    "z": -0.1045164242386818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98821496963501,
                "transform": {
                    "location": {
                        "x": 2896.97705078125,
                        "y": 4253.71337890625,
                        "z": 360.4893798828125
                    },
                    "rotation": {
                        "roll": 0.0001511548034613952,
                        "pitch": 0.3917386531829834,
                        "yaw": 9.182723045349121
                    }
                },
                "velocity": {
                    "x": 7.885651111602783,
                    "y": 1.2748461961746216,
                    "z": 0.0534077063202858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080225944519043,
                "transform": {
                    "location": {
                        "x": 2902.307373046875,
                        "y": 4257.86767578125,
                        "z": 360.5320129394531
                    },
                    "rotation": {
                        "roll": 1.3640692486660555e-05,
                        "pitch": 0.3956250250339508,
                        "yaw": 9.189127922058105
                    }
                },
                "velocity": {
                    "x": 7.976337909698486,
                    "y": 1.2903066873550415,
                    "z": 0.05651549994945526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025298118591309,
                "transform": {
                    "location": {
                        "x": 2938.956298828125,
                        "y": 4260.50439453125,
                        "z": 360.8336181640625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.4246464967727661,
                        "yaw": 9.207797050476074
                    }
                },
                "velocity": {
                    "x": 7.9219560623168945,
                    "y": 1.2823747396469116,
                    "z": 0.059404123574495316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.1602783203125,
                "transform": {
                    "location": {
                        "x": 2875.43212890625,
                        "y": 4243.44091796875,
                        "z": 360.3349609375
                    },
                    "rotation": {
                        "roll": 0.0009055531118065119,
                        "pitch": -0.3762477934360504,
                        "yaw": -170.77880859375
                    }
                },
                "velocity": {
                    "x": -9.041892051696777,
                    "y": -1.466647744178772,
                    "z": -0.06189082935452461
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.080199718475342,
                "transform": {
                    "location": {
                        "x": 2855.122314453125,
                        "y": 4240.154296875,
                        "z": 360.1930847167969
                    },
                    "rotation": {
                        "roll": -0.0008544937008991838,
                        "pitch": -0.27313923835754395,
                        "yaw": -170.8238067626953
                    }
                },
                "velocity": {
                    "x": -6.001526355743408,
                    "y": -0.9738233685493469,
                    "z": -0.04668845981359482
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.477752208709717,
                "transform": {
                    "location": {
                        "x": 2866.682373046875,
                        "y": 4245.31689453125,
                        "z": 360.2800598144531
                    },
                    "rotation": {
                        "roll": 0.0012595482403412461,
                        "pitch": -0.61281818151474,
                        "yaw": -170.84132385253906
                    }
                },
                "velocity": {
                    "x": -7.381788730621338,
                    "y": -1.1928918361663818,
                    "z": -0.05459325760602951
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4176459312438965,
                "transform": {
                    "location": {
                        "x": 2849.283935546875,
                        "y": 4242.5009765625,
                        "z": 360.15032958984375
                    },
                    "rotation": {
                        "roll": 0.00022083574731368572,
                        "pitch": -0.5043957829475403,
                        "yaw": -170.825439453125
                    }
                },
                "velocity": {
                    "x": -6.33521032333374,
                    "y": -1.0241761207580566,
                    "z": -0.048525769263505936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3338078558444977,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3016393482685089,
        "expert_target_speed": 8.375073159041392,
        "target_point": [
            39.744612399060564,
            -1.3418562013421367
        ],
        "target_point_next": [
            39.744612399060564,
            -1.3418562013421367
        ]
    },
    "390": {
        "acceleration": [
            3.0230331420898438,
            0.7872271537780762,
            -0.005434826016426086
        ],
        "angular_velocity": [
            -0.7628800868988037,
            0.21850889921188354,
            -5.2402567863464355
        ],
        "forward_vector": [
            -0.9858533143997192,
            -0.16699999570846558,
            -0.014289488084614277
        ],
        "right_vector": [
            0.16708128154277802,
            -0.9859319925308228,
            -0.004689160734415054
        ],
        "location": [
            2886.1484375,
            4244.904296875,
            360.41156005859375
        ],
        "rotation": [
            0.2686975300312042,
            -0.8187552094459534,
            -170.3855743408203
        ],
        "velocity": [
            -7.4415411949157715,
            -1.225071668624878,
            -0.052434735000133514
        ],
        "speed": 7.541706434812734,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.216787338256836,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2873.061767578125,
                4243.056640625,
                360.3182373046875
            ],
            "velocity": [
                -9.889427185058594,
                -1.6022052764892578,
                -0.07007233798503876
            ],
            "speed_kmh": 36.06703114205009,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0130033493042,
                "transform": {
                    "location": {
                        "x": 2946.72021484375,
                        "y": 4265.06787109375,
                        "z": 360.8609619140625
                    },
                    "rotation": {
                        "roll": 4.537137647275813e-05,
                        "pitch": 0.4358070194721222,
                        "yaw": 9.365300178527832
                    }
                },
                "velocity": {
                    "x": 7.909434795379639,
                    "y": 1.2827374935150146,
                    "z": 0.06039372459053993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5046972036361694,
                "transform": {
                    "location": {
                        "x": 2952.70703125,
                        "y": 4255.94384765625,
                        "z": 360.888671875
                    },
                    "rotation": {
                        "roll": -0.0019836402498185635,
                        "pitch": -0.422973096370697,
                        "yaw": -170.61241149902344
                    }
                },
                "velocity": {
                    "x": -1.4852335453033447,
                    "y": -0.2409948855638504,
                    "z": -0.010784883052110672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.747609615325928,
                "transform": {
                    "location": {
                        "x": 2942.997802734375,
                        "y": 4257.65869140625,
                        "z": 360.818359375
                    },
                    "rotation": {
                        "roll": 0.0006171373534016311,
                        "pitch": -0.4095381200313568,
                        "yaw": -170.83802795410156
                    }
                },
                "velocity": {
                    "x": -5.674386501312256,
                    "y": -0.9135422110557556,
                    "z": -0.04240741208195686
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.341108798980713,
                "transform": {
                    "location": {
                        "x": 2852.959228515625,
                        "y": 4249.8359375,
                        "z": 360.2189025878906
                    },
                    "rotation": {
                        "roll": 0.008945493027567863,
                        "pitch": 0.6076136231422424,
                        "yaw": 9.605541229248047
                    }
                },
                "velocity": {
                    "x": 7.2397050857543945,
                    "y": 1.2146625518798828,
                    "z": 0.05602492392063141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.820384502410889,
                "transform": {
                    "location": {
                        "x": 2849.826171875,
                        "y": 4246.001953125,
                        "z": 360.15716552734375
                    },
                    "rotation": {
                        "roll": 0.001999378204345703,
                        "pitch": 0.6713460683822632,
                        "yaw": 9.67085075378418
                    }
                },
                "velocity": {
                    "x": 4.75026798248291,
                    "y": 0.818340539932251,
                    "z": 0.037132080644369125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015220360364764929,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0021296897903084755,
                        "pitch": -0.4237380921840668,
                        "yaw": -171.32574462890625
                    }
                },
                "velocity": {
                    "x": -2.5394036129000597e-05,
                    "y": -4.393570179672679e-06,
                    "z": 0.0015218178741633892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.77471923828125,
                "transform": {
                    "location": {
                        "x": 2908.729248046875,
                        "y": 4252.1201171875,
                        "z": 360.5755920410156
                    },
                    "rotation": {
                        "roll": 0.006956193596124649,
                        "pitch": -0.21405129134655,
                        "yaw": -170.79592895507812
                    }
                },
                "velocity": {
                    "x": -15.571380615234375,
                    "y": -2.5222787857055664,
                    "z": -0.1095317080616951
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019052505493164,
                "transform": {
                    "location": {
                        "x": 2898.952392578125,
                        "y": 4254.03271484375,
                        "z": 360.5030517578125
                    },
                    "rotation": {
                        "roll": -0.0006408655899576843,
                        "pitch": 0.393241286277771,
                        "yaw": 9.184516906738281
                    }
                },
                "velocity": {
                    "x": 7.9160308837890625,
                    "y": 1.2800865173339844,
                    "z": 0.055156733840703964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044154167175293,
                "transform": {
                    "location": {
                        "x": 2904.297119140625,
                        "y": 4258.189453125,
                        "z": 360.54595947265625
                    },
                    "rotation": {
                        "roll": 0.0017962231067940593,
                        "pitch": 0.399101585149765,
                        "yaw": 9.189056396484375
                    }
                },
                "velocity": {
                    "x": 7.940718173980713,
                    "y": 1.2846139669418335,
                    "z": 0.05635251849889755
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.023573875427246,
                "transform": {
                    "location": {
                        "x": 2940.9365234375,
                        "y": 4260.8251953125,
                        "z": 360.848388671875
                    },
                    "rotation": {
                        "roll": 7.852597627788782e-05,
                        "pitch": 0.42364928126335144,
                        "yaw": 9.186431884765625
                    }
                },
                "velocity": {
                    "x": 7.920166492462158,
                    "y": 1.282631516456604,
                    "z": 0.05960529297590256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.018620491027832,
                "transform": {
                    "location": {
                        "x": 2873.061767578125,
                        "y": 4243.056640625,
                        "z": 360.3182373046875
                    },
                    "rotation": {
                        "roll": -0.001037598354741931,
                        "pitch": -0.3840888440608978,
                        "yaw": -170.79757690429688
                    }
                },
                "velocity": {
                    "x": -9.889427185058594,
                    "y": -1.6022052764892578,
                    "z": -0.07007233798503876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0290207862854,
                "transform": {
                    "location": {
                        "x": 2853.6494140625,
                        "y": 4239.91552734375,
                        "z": 360.1827697753906
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.39807024598121643,
                        "yaw": -170.7825927734375
                    }
                },
                "velocity": {
                    "x": -5.951091289520264,
                    "y": -0.9651924967765808,
                    "z": -0.04482988640666008
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.398313522338867,
                "transform": {
                    "location": {
                        "x": 2865.095458984375,
                        "y": 4245.06005859375,
                        "z": 360.268310546875
                    },
                    "rotation": {
                        "roll": -0.0011901911348104477,
                        "pitch": -0.7333983778953552,
                        "yaw": -170.7543182373047
                    }
                },
                "velocity": {
                    "x": -5.328646659851074,
                    "y": -0.8635386228561401,
                    "z": -0.0401739776134491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.078213214874268,
                "transform": {
                    "location": {
                        "x": 2847.74267578125,
                        "y": 4242.251953125,
                        "z": 360.1383972167969
                    },
                    "rotation": {
                        "roll": 0.00041690163197927177,
                        "pitch": -0.5121753811836243,
                        "yaw": -170.79771423339844
                    }
                },
                "velocity": {
                    "x": -5.999990940093994,
                    "y": -0.9707759022712708,
                    "z": -0.04873167350888252
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.31768277287483215,
        "expert_target_speed": 7.903510872014638,
        "target_point": [
            37.7796038037633,
            -0.6450650509329394
        ],
        "target_point_next": [
            37.7796038037633,
            -0.6450650509329394
        ]
    },
    "395": {
        "acceleration": [
            1.579275131225586,
            0.3667283058166504,
            0.0022242218255996704
        ],
        "angular_velocity": [
            -0.3882886469364166,
            0.46018147468566895,
            2.020141839981079
        ],
        "forward_vector": [
            -0.9869214296340942,
            -0.16070495545864105,
            -0.012649078853428364
        ],
        "right_vector": [
            0.16074758768081665,
            -0.986992597579956,
            -0.0024222852662205696
        ],
        "location": [
            2884.372314453125,
            4244.6142578125,
            360.3990173339844
        ],
        "rotation": [
            0.13879795372486115,
            -0.7247581481933594,
            -170.75143432617188
        ],
        "velocity": [
            -6.861976146697998,
            -1.0951123237609863,
            -0.048516735434532166
        ],
        "speed": 6.948811958853505,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.902422904968262,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2870.6083984375,
                4242.6591796875,
                360.3008117675781
            ],
            "velocity": [
                -9.395713806152344,
                -1.5219247341156006,
                -0.06880252063274384
            ],
            "speed_kmh": 34.26633229380158,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078482627868652,
                "transform": {
                    "location": {
                        "x": 2948.706298828125,
                        "y": 4265.38916015625,
                        "z": 360.8762512207031
                    },
                    "rotation": {
                        "roll": 0.001001570257358253,
                        "pitch": 0.4466465413570404,
                        "yaw": 9.34735107421875
                    }
                },
                "velocity": {
                    "x": 7.974430561065674,
                    "y": 1.2909612655639648,
                    "z": 0.06126583740115166
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005500072729773819,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8877258300781
                    },
                    "rotation": {
                        "roll": -0.00790405087172985,
                        "pitch": -0.4841920733451843,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": -5.293779031489976e-05,
                    "y": 8.199369040085003e-05,
                    "z": -0.000541278684977442
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.838195323944092,
                "transform": {
                    "location": {
                        "x": 2941.43212890625,
                        "y": 4257.40625,
                        "z": 360.8063659667969
                    },
                    "rotation": {
                        "roll": 0.0002141753357136622,
                        "pitch": -0.3877839744091034,
                        "yaw": -170.8343963623047
                    }
                },
                "velocity": {
                    "x": -6.751034259796143,
                    "y": -1.0871857404708862,
                    "z": -0.04981881380081177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.382416725158691,
                "transform": {
                    "location": {
                        "x": 2854.956298828125,
                        "y": 4250.17138671875,
                        "z": 360.2345275878906
                    },
                    "rotation": {
                        "roll": 0.005142793990671635,
                        "pitch": 0.5747672319412231,
                        "yaw": 9.533622741699219
                    }
                },
                "velocity": {
                    "x": 8.266925811767578,
                    "y": 1.3851901292800903,
                    "z": 0.06398414820432663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.449725151062012,
                "transform": {
                    "location": {
                        "x": 2851.128662109375,
                        "y": 4246.2275390625,
                        "z": 360.1674499511719
                    },
                    "rotation": {
                        "roll": 0.0012762501137331128,
                        "pitch": 0.5648770928382874,
                        "yaw": 9.781045913696289
                    }
                },
                "velocity": {
                    "x": 5.369868278503418,
                    "y": 0.9286368489265442,
                    "z": 0.04069053381681442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010769061045721173,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0016649573808535933,
                        "pitch": -0.42385420203208923,
                        "yaw": -171.3257598876953
                    }
                },
                "velocity": {
                    "x": -3.0798688385402784e-05,
                    "y": 3.365380507602822e-06,
                    "z": 0.001076460350304842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.205482482910156,
                "transform": {
                    "location": {
                        "x": 2904.7666015625,
                        "y": 4251.478515625,
                        "z": 360.547607421875
                    },
                    "rotation": {
                        "roll": 0.0045151133090257645,
                        "pitch": -0.28271517157554626,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -15.996910095214844,
                    "y": -2.5892131328582764,
                    "z": -0.11190927028656006
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987264156341553,
                "transform": {
                    "location": {
                        "x": 2900.927490234375,
                        "y": 4254.35205078125,
                        "z": 360.51678466796875
                    },
                    "rotation": {
                        "roll": 0.00029117378289811313,
                        "pitch": 0.396308034658432,
                        "yaw": 9.18572998046875
                    }
                },
                "velocity": {
                    "x": 7.884644031524658,
                    "y": 1.2749780416488647,
                    "z": 0.0566415973007679
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078536987304688,
                "transform": {
                    "location": {
                        "x": 2906.286376953125,
                        "y": 4258.5107421875,
                        "z": 360.5600280761719
                    },
                    "rotation": {
                        "roll": 7.407333760056645e-05,
                        "pitch": 0.3994157910346985,
                        "yaw": 9.188984870910645
                    }
                },
                "velocity": {
                    "x": 7.974671363830566,
                    "y": 1.290026068687439,
                    "z": 0.056693658232688904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025410652160645,
                "transform": {
                    "location": {
                        "x": 2942.916748046875,
                        "y": 4261.14501953125,
                        "z": 360.86322021484375
                    },
                    "rotation": {
                        "roll": 0.0002131858782377094,
                        "pitch": 0.4284099340438843,
                        "yaw": 9.214282989501953
                    }
                },
                "velocity": {
                    "x": 7.921679973602295,
                    "y": 1.2847483158111572,
                    "z": 0.06011272221803665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.518424987792969,
                "transform": {
                    "location": {
                        "x": 2870.6083984375,
                        "y": 4242.6591796875,
                        "z": 360.3008117675781
                    },
                    "rotation": {
                        "roll": 0.00120317202527076,
                        "pitch": -0.4153779447078705,
                        "yaw": -170.80018615722656
                    }
                },
                "velocity": {
                    "x": -9.395713806152344,
                    "y": -1.5219247341156006,
                    "z": -0.06880252063274384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.494934558868408,
                "transform": {
                    "location": {
                        "x": 2852.087646484375,
                        "y": 4239.662109375,
                        "z": 360.17132568359375
                    },
                    "rotation": {
                        "roll": -0.00021362071856856346,
                        "pitch": -0.471276193857193,
                        "yaw": -170.82919311523438
                    }
                },
                "velocity": {
                    "x": -6.4113287925720215,
                    "y": -1.0375895500183105,
                    "z": -0.04950179532170296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.323269844055176,
                "transform": {
                    "location": {
                        "x": 2863.816162109375,
                        "y": 4244.8525390625,
                        "z": 360.2591247558594
                    },
                    "rotation": {
                        "roll": 0.0014629072975367308,
                        "pitch": -0.5023193955421448,
                        "yaw": -170.76451110839844
                    }
                },
                "velocity": {
                    "x": -5.254438877105713,
                    "y": -0.8523509502410889,
                    "z": -0.039639055728912354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.78116512298584,
                "transform": {
                    "location": {
                        "x": 2846.282958984375,
                        "y": 4242.015625,
                        "z": 360.1269836425781
                    },
                    "rotation": {
                        "roll": -0.0011596669210121036,
                        "pitch": -0.5081455707550049,
                        "yaw": -170.82667541503906
                    }
                },
                "velocity": {
                    "x": -5.706857204437256,
                    "y": -0.9228020310401917,
                    "z": -0.04574081301689148
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.34160304069519043,
        "expert_target_speed": 7.479767483595377,
        "target_point": [
            35.98330394976301,
            -0.4046323244999508
        ],
        "target_point_next": [
            35.98330394976301,
            -0.4046323244999508
        ]
    },
    "400": {
        "acceleration": [
            0.31891822814941406,
            0.19178390502929688,
            0.01734130084514618
        ],
        "angular_velocity": [
            -0.24019864201545715,
            0.5306171178817749,
            -4.269946098327637
        ],
        "forward_vector": [
            -0.9878013730049133,
            -0.15539051592350006,
            -0.010109728202223778
        ],
        "right_vector": [
            0.15541371703147888,
            -0.9878482222557068,
            -0.0015461546136066318
        ],
        "location": [
            2882.6865234375,
            4244.34814453125,
            360.3867492675781
        ],
        "rotation": [
            0.08859269320964813,
            -0.5792546272277832,
            -171.06008911132812
        ],
        "velocity": [
            -6.672199726104736,
            -1.027956485748291,
            -0.04497632011771202
        ],
        "speed": 6.750921694229914,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.418259620666504,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2868.414306640625,
                4242.3037109375,
                360.28509521484375
            ],
            "velocity": [
                -8.196548461914062,
                -1.3274987936019897,
                -0.05930714309215546
            ],
            "speed_kmh": 29.892830827185634,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.70751953125,
                        "y": 4265.70263671875,
                        "z": 360.89202880859375
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.700721740722656,
                "transform": {
                    "location": {
                        "x": 2939.6064453125,
                        "y": 4257.1123046875,
                        "z": 360.7928161621094
                    },
                    "rotation": {
                        "roll": -0.00012207245163153857,
                        "pitch": -0.3907414376735687,
                        "yaw": -170.83607482910156
                    }
                },
                "velocity": {
                    "x": -7.602381229400635,
                    "y": -1.2254129648208618,
                    "z": -0.05726156756281853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8624067306518555,
                "transform": {
                    "location": {
                        "x": 2856.959228515625,
                        "y": 4250.50732421875,
                        "z": 360.2510986328125
                    },
                    "rotation": {
                        "roll": 0.006628624629229307,
                        "pitch": 0.4261218309402466,
                        "yaw": 9.498588562011719
                    }
                },
                "velocity": {
                    "x": 7.756354808807373,
                    "y": 1.2856826782226562,
                    "z": 0.05847694352269173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.809721946716309,
                "transform": {
                    "location": {
                        "x": 2852.563720703125,
                        "y": 4246.47412109375,
                        "z": 360.1785888671875
                    },
                    "rotation": {
                        "roll": 0.013277346268296242,
                        "pitch": 0.6431237459182739,
                        "yaw": 9.741743087768555
                    }
                },
                "velocity": {
                    "x": 6.713565349578857,
                    "y": 1.139203667640686,
                    "z": 0.05062098428606987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004712831287179142,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.002032667165622115,
                        "pitch": -0.4238336980342865,
                        "yaw": -171.3258056640625
                    }
                },
                "velocity": {
                    "x": -1.687087024038192e-05,
                    "y": -1.600740506546572e-05,
                    "z": 0.0004707089683506638
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.152740478515625,
                "transform": {
                    "location": {
                        "x": 2900.771240234375,
                        "y": 4250.83251953125,
                        "z": 360.5196838378906
                    },
                    "rotation": {
                        "roll": 0.0012508617946878076,
                        "pitch": -0.37463584542274475,
                        "yaw": -170.81405639648438
                    }
                },
                "velocity": {
                    "x": -15.945182800292969,
                    "y": -2.5787460803985596,
                    "z": -0.11057259142398834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019625663757324,
                "transform": {
                    "location": {
                        "x": 2902.90283203125,
                        "y": 4254.67138671875,
                        "z": 360.5306091308594
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.39582309126853943,
                        "yaw": 9.185812950134277
                    }
                },
                "velocity": {
                    "x": 7.916586875915527,
                    "y": 1.2801727056503296,
                    "z": 0.05657369643449783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04531478881836,
                "transform": {
                    "location": {
                        "x": 2908.276123046875,
                        "y": 4258.83251953125,
                        "z": 360.5740661621094
                    },
                    "rotation": {
                        "roll": 0.0007313116220757365,
                        "pitch": 0.40069302916526794,
                        "yaw": 9.19342041015625
                    }
                },
                "velocity": {
                    "x": 7.941761493682861,
                    "y": 1.2854293584823608,
                    "z": 0.056390438228845596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0243558883667,
                "transform": {
                    "location": {
                        "x": 2944.897216796875,
                        "y": 4261.4658203125,
                        "z": 360.8782043457031
                    },
                    "rotation": {
                        "roll": -0.0002441394899506122,
                        "pitch": 0.4319548010826111,
                        "yaw": 9.184920310974121
                    }
                },
                "velocity": {
                    "x": 7.921219825744629,
                    "y": 1.2810194492340088,
                    "z": 0.059621140360832214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.303564071655273,
                "transform": {
                    "location": {
                        "x": 2868.414306640625,
                        "y": 4242.3037109375,
                        "z": 360.28509521484375
                    },
                    "rotation": {
                        "roll": 0.0002977987751364708,
                        "pitch": -0.4344136714935303,
                        "yaw": -170.8001251220703
                    }
                },
                "velocity": {
                    "x": -8.196548461914062,
                    "y": -1.3274987936019897,
                    "z": -0.05930714309215546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.570646286010742,
                "transform": {
                    "location": {
                        "x": 2850.278564453125,
                        "y": 4239.369140625,
                        "z": 360.1578369140625
                    },
                    "rotation": {
                        "roll": -0.0006408714689314365,
                        "pitch": -0.532529354095459,
                        "yaw": -170.85498046875
                    }
                },
                "velocity": {
                    "x": -7.473520755767822,
                    "y": -1.2074649333953857,
                    "z": -0.05654788762331009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.444855213165283,
                "transform": {
                    "location": {
                        "x": 2862.48486328125,
                        "y": 4244.63720703125,
                        "z": 360.2493591308594
                    },
                    "rotation": {
                        "roll": 0.0006875232793390751,
                        "pitch": -0.42330095171928406,
                        "yaw": -170.78395080566406
                    }
                },
                "velocity": {
                    "x": -5.37460994720459,
                    "y": -0.870836079120636,
                    "z": -0.040743302553892136
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.530013084411621,
                "transform": {
                    "location": {
                        "x": 2844.887939453125,
                        "y": 4241.7900390625,
                        "z": 360.1161193847656
                    },
                    "rotation": {
                        "roll": -0.0013732870575040579,
                        "pitch": -0.4997512400150299,
                        "yaw": -170.79367065429688
                    }
                },
                "velocity": {
                    "x": -5.458751201629639,
                    "y": -0.8838659524917603,
                    "z": -0.04315553978085518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.33386728167533875,
        "expert_target_speed": 7.301621181475922,
        "target_point": [
            34.278296243253045,
            -0.2116857167948787
        ],
        "target_point_next": [
            34.278296243253045,
            -0.2116857167948787
        ]
    },
    "405": {
        "acceleration": [
            -0.3325176239013672,
            0.09081602096557617,
            0.002254769206047058
        ],
        "angular_velocity": [
            -0.10106904059648514,
            0.35832589864730835,
            1.8465129137039185
        ],
        "forward_vector": [
            -0.9885333776473999,
            -0.15079082548618317,
            -0.00799468532204628
        ],
        "right_vector": [
            0.1508050560951233,
            -0.988562822341919,
            -0.0012055044062435627
        ],
        "location": [
            2881.0166015625,
            4244.09375,
            360.3747863769531
        ],
        "rotation": [
            0.06907254457473755,
            -0.4580666124820709,
            -171.32696533203125
        ],
        "velocity": [
            -6.703550338745117,
            -0.997718334197998,
            -0.04542773962020874
        ],
        "speed": 6.777391018561981,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.734627723693848,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2866.434326171875,
                4241.98291015625,
                360.2705383300781
            ],
            "velocity": [
                -7.906551361083984,
                -1.27962064743042,
                -0.05702276900410652
            ],
            "speed_kmh": 28.834681997513776,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.771484375,
                        "y": 4265.986328125,
                        "z": 360.9088134765625
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.200157165527344,
                "transform": {
                    "location": {
                        "x": 2937.506591796875,
                        "y": 4256.7734375,
                        "z": 360.7770080566406
                    },
                    "rotation": {
                        "roll": 0.0002682274207472801,
                        "pitch": -0.3762136399745941,
                        "yaw": -170.85047912597656
                    }
                },
                "velocity": {
                    "x": -9.082742691040039,
                    "y": -1.4636211395263672,
                    "z": -0.06696019321680069
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015557289123535,
                "transform": {
                    "location": {
                        "x": 2858.898681640625,
                        "y": 4250.82763671875,
                        "z": 360.26568603515625
                    },
                    "rotation": {
                        "roll": 0.005521587561815977,
                        "pitch": 0.42780205607414246,
                        "yaw": 9.383130073547363
                    }
                },
                "velocity": {
                    "x": 7.9091668128967285,
                    "y": 1.3003193140029907,
                    "z": 0.05838495120406151
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.110079765319824,
                "transform": {
                    "location": {
                        "x": 2854.43798828125,
                        "y": 4246.79052734375,
                        "z": 360.19293212890625
                    },
                    "rotation": {
                        "roll": 0.00896945595741272,
                        "pitch": 0.6484581232070923,
                        "yaw": 9.575729370117188
                    }
                },
                "velocity": {
                    "x": 7.997591972351074,
                    "y": 1.3446836471557617,
                    "z": 0.06115778908133507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011661291355267167,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.8037414550781
                    },
                    "rotation": {
                        "roll": 0.002188134705647826,
                        "pitch": -0.4234853684902191,
                        "yaw": -171.3258056640625
                    }
                },
                "velocity": {
                    "x": -2.0942687115166336e-05,
                    "y": -6.6594966483535245e-06,
                    "z": 0.0011659220326691866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 16.0865421295166,
                "transform": {
                    "location": {
                        "x": 2896.795166015625,
                        "y": 4250.189453125,
                        "z": 360.4920654296875
                    },
                    "rotation": {
                        "roll": 0.0008085396839305758,
                        "pitch": -0.39694324135780334,
                        "yaw": -170.8140869140625
                    }
                },
                "velocity": {
                    "x": -15.879866600036621,
                    "y": -2.5679550170898438,
                    "z": -0.11076732724905014
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987643718719482,
                "transform": {
                    "location": {
                        "x": 2904.877685546875,
                        "y": 4254.99072265625,
                        "z": 360.54443359375
                    },
                    "rotation": {
                        "roll": 0.00017990711785387248,
                        "pitch": 0.39841175079345703,
                        "yaw": 9.18780517578125
                    }
                },
                "velocity": {
                    "x": 7.8849616050720215,
                    "y": 1.2753959894180298,
                    "z": 0.056539714336395264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078214645385742,
                "transform": {
                    "location": {
                        "x": 2910.265869140625,
                        "y": 4259.15478515625,
                        "z": 360.5882263183594
                    },
                    "rotation": {
                        "roll": -0.0005187970818951726,
                        "pitch": 0.4041217863559723,
                        "yaw": 9.194215774536133
                    }
                },
                "velocity": {
                    "x": 7.974234580993652,
                    "y": 1.2906984090805054,
                    "z": 0.056907281279563904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025373458862305,
                "transform": {
                    "location": {
                        "x": 2946.87744140625,
                        "y": 4261.78564453125,
                        "z": 360.893310546875
                    },
                    "rotation": {
                        "roll": 9.84635844361037e-05,
                        "pitch": 0.43343695998191833,
                        "yaw": 9.210657119750977
                    }
                },
                "velocity": {
                    "x": 7.921719074249268,
                    "y": 1.284245252609253,
                    "z": 0.06080922111868858
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.009634017944336,
                "transform": {
                    "location": {
                        "x": 2866.434326171875,
                        "y": 4241.98291015625,
                        "z": 360.2705383300781
                    },
                    "rotation": {
                        "roll": 0.00027184427017346025,
                        "pitch": -0.4231916666030884,
                        "yaw": -170.80111694335938
                    }
                },
                "velocity": {
                    "x": -7.906551361083984,
                    "y": -1.27962064743042,
                    "z": -0.05702276900410652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.68889856338501,
                "transform": {
                    "location": {
                        "x": 2848.5126953125,
                        "y": 4239.083984375,
                        "z": 360.1427917480469
                    },
                    "rotation": {
                        "roll": -0.0010070743737742305,
                        "pitch": -0.375701367855072,
                        "yaw": -170.8358154296875
                    }
                },
                "velocity": {
                    "x": -6.603263854980469,
                    "y": -1.0655837059020996,
                    "z": -0.052958667278289795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.269617557525635,
                "transform": {
                    "location": {
                        "x": 2860.861083984375,
                        "y": 4244.3740234375,
                        "z": 360.23748779296875
                    },
                    "rotation": {
                        "roll": 0.0010014392901211977,
                        "pitch": -0.22817611694335938,
                        "yaw": -170.78677368164062
                    }
                },
                "velocity": {
                    "x": -7.175826072692871,
                    "y": -1.162760853767395,
                    "z": -0.05335300788283348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.243025779724121,
                "transform": {
                    "location": {
                        "x": 2843.559814453125,
                        "y": 4241.5751953125,
                        "z": 360.1058044433594
                    },
                    "rotation": {
                        "roll": -0.0009460475412197411,
                        "pitch": -0.5023808479309082,
                        "yaw": -170.82461547851562
                    }
                },
                "velocity": {
                    "x": -5.17561674118042,
                    "y": -0.8370397090911865,
                    "z": -0.04094553738832474
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3035656213760376,
        "expert_target_speed": 7.329010284337798,
        "target_point": [
            32.58972255831698,
            -0.051693249231194116
        ],
        "target_point_next": [
            32.58972255831698,
            -0.051693249231194116
        ]
    },
    "410": {
        "acceleration": [
            -0.7611846923828125,
            0.033762454986572266,
            -0.003461688756942749
        ],
        "angular_velocity": [
            -0.024471338838338852,
            0.263719767332077,
            -4.181358814239502
        ],
        "forward_vector": [
            -0.9893956184387207,
            -0.14509181678295135,
            -0.006683895830065012
        ],
        "right_vector": [
            0.1451023817062378,
            -0.9894160032272339,
            -0.001120318891480565
        ],
        "location": [
            2879.323486328125,
            4243.845703125,
            360.36285400390625
        ],
        "rotation": [
            0.06419099122285843,
            -0.38296186923980713,
            -171.65721130371094
        ],
        "velocity": [
            -6.849555492401123,
            -0.9835319519042969,
            -0.04612575098872185
        ],
        "speed": 6.919808201380951,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.083831787109375,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2864.400146484375,
                4241.65380859375,
                360.2555847167969
            ],
            "velocity": [
                -8.252157211303711,
                -1.3355767726898193,
                -0.061415910720825195
            ],
            "speed_kmh": 30.095146467063994,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26576,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.83544921875,
                        "y": 4266.27099609375,
                        "z": 360.9256896972656
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.949462890625,
                "transform": {
                    "location": {
                        "x": 2935.135498046875,
                        "y": 4256.3916015625,
                        "z": 360.7594909667969
                    },
                    "rotation": {
                        "roll": 0.00023014737234916538,
                        "pitch": -0.39117857813835144,
                        "yaw": -170.8501739501953
                    }
                },
                "velocity": {
                    "x": -9.822245597839355,
                    "y": -1.5842869281768799,
                    "z": -0.07304879277944565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.1100435256958,
                "transform": {
                    "location": {
                        "x": 2860.904296875,
                        "y": 4251.1572265625,
                        "z": 360.2804870605469
                    },
                    "rotation": {
                        "roll": 0.003194186370819807,
                        "pitch": 0.43591630458831787,
                        "yaw": 9.330322265625
                    }
                },
                "velocity": {
                    "x": 8.002779006958008,
                    "y": 1.3132683038711548,
                    "z": 0.060603998601436615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.180181503295898,
                "transform": {
                    "location": {
                        "x": 2856.4765625,
                        "y": 4247.1318359375,
                        "z": 360.2083435058594
                    },
                    "rotation": {
                        "roll": 0.00679883873090148,
                        "pitch": 0.4976065754890442,
                        "yaw": 9.493911743164062
                    }
                },
                "velocity": {
                    "x": 8.067757606506348,
                    "y": 1.3501238822937012,
                    "z": 0.06184240058064461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012064184993505478,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.8037414550781
                    },
                    "rotation": {
                        "roll": 0.002361615654081106,
                        "pitch": -0.42361512780189514,
                        "yaw": -171.32586669921875
                    }
                },
                "velocity": {
                    "x": -2.189181759604253e-05,
                    "y": -1.1299093785055447e-05,
                    "z": 0.0012061669258400798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.318987846374512,
                "transform": {
                    "location": {
                        "x": 2892.91845703125,
                        "y": 4249.5625,
                        "z": 360.4652404785156
                    },
                    "rotation": {
                        "roll": -0.00015258487837854773,
                        "pitch": -0.5166559815406799,
                        "yaw": -170.81390380859375
                    }
                },
                "velocity": {
                    "x": -15.122200965881348,
                    "y": -2.445344924926758,
                    "z": -0.1035832017660141
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019641876220703,
                "transform": {
                    "location": {
                        "x": 2906.85302734375,
                        "y": 4255.31005859375,
                        "z": 360.5583801269531
                    },
                    "rotation": {
                        "roll": -9.154944564215839e-05,
                        "pitch": 0.4003036916255951,
                        "yaw": 9.188629150390625
                    }
                },
                "velocity": {
                    "x": 7.9165358543396,
                    "y": 1.2805585861206055,
                    "z": 0.057250671088695526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045568466186523,
                "transform": {
                    "location": {
                        "x": 2912.255126953125,
                        "y": 4259.4765625,
                        "z": 360.6024169921875
                    },
                    "rotation": {
                        "roll": -0.0003356947854626924,
                        "pitch": 0.40403982996940613,
                        "yaw": 9.194549560546875
                    }
                },
                "velocity": {
                    "x": 7.941997528076172,
                    "y": 1.2855416536331177,
                    "z": 0.05680970847606659
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2948.892822265625,
                        "y": 4262.07958984375,
                        "z": 360.8975830078125
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.359763145446777,
                "transform": {
                    "location": {
                        "x": 2864.400146484375,
                        "y": 4241.65380859375,
                        "z": 360.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0005798376514576375,
                        "pitch": -0.4165322482585907,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -8.252157211303711,
                    "y": -1.3355767726898193,
                    "z": -0.061415910720825195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.981086254119873,
                "transform": {
                    "location": {
                        "x": 2846.982666015625,
                        "y": 4238.8369140625,
                        "z": 360.13079833984375
                    },
                    "rotation": {
                        "roll": -0.0002441410906612873,
                        "pitch": -0.37399381399154663,
                        "yaw": -170.8264617919922
                    }
                },
                "velocity": {
                    "x": -5.904410362243652,
                    "y": -0.9535346627235413,
                    "z": -0.04590250551700592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.236820220947266,
                "transform": {
                    "location": {
                        "x": 2858.9228515625,
                        "y": 4244.060546875,
                        "z": 360.2228698730469
                    },
                    "rotation": {
                        "roll": 0.0004835209983866662,
                        "pitch": -0.26058536767959595,
                        "yaw": -170.79464721679688
                    }
                },
                "velocity": {
                    "x": -8.130724906921387,
                    "y": -1.3163671493530273,
                    "z": -0.060767754912376404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.000259876251221,
                "transform": {
                    "location": {
                        "x": 2842.2978515625,
                        "y": 4241.37109375,
                        "z": 360.0959167480469
                    },
                    "rotation": {
                        "roll": -0.0006713914917781949,
                        "pitch": -0.4974358081817627,
                        "yaw": -170.79397583007812
                    }
                },
                "velocity": {
                    "x": -4.935861587524414,
                    "y": -0.7989838719367981,
                    "z": -0.03864561766386032
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2534139156341553,
        "expert_target_speed": 7.475418742180317,
        "target_point": [
            30.878290551300204,
            0.13639442955224368
        ],
        "target_point_next": [
            30.878290551300204,
            0.13639442955224368
        ]
    },
    "415": {
        "acceleration": [
            -1.2652206420898438,
            -0.017288923263549805,
            0.0076448917388916016
        ],
        "angular_velocity": [
            -0.09689140319824219,
            0.23614224791526794,
            1.6208754777908325
        ],
        "forward_vector": [
            -0.9900938868522644,
            -0.14029638469219208,
            -0.005576104391366243
        ],
        "right_vector": [
            0.1403048038482666,
            -0.9901077151298523,
            -0.001148329465650022
        ],
        "location": [
            2877.577392578125,
            4243.59814453125,
            360.3504638671875
        ],
        "rotation": [
            0.06579546630382538,
            -0.31948891282081604,
            -171.93487548828125
        ],
        "velocity": [
            -7.122603416442871,
            -0.9843266606330872,
            -0.049176979809999466
        ],
        "speed": 7.190297518375491,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.28532600402832,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2862.460205078125,
                4241.33984375,
                360.2413330078125
            ],
            "velocity": [
                -7.228234767913818,
                -1.1698613166809082,
                -0.054660994559526443
            ],
            "speed_kmh": 26.360984005786527,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.648897171020508,
                "transform": {
                    "location": {
                        "x": 2932.58935546875,
                        "y": 4255.98095703125,
                        "z": 360.7405700683594
                    },
                    "rotation": {
                        "roll": 4.473414082895033e-05,
                        "pitch": -0.39703887701034546,
                        "yaw": -170.839599609375
                    }
                },
                "velocity": {
                    "x": -10.512682914733887,
                    "y": -1.6960318088531494,
                    "z": -0.07740083336830139
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.947534084320068,
                "transform": {
                    "location": {
                        "x": 2862.87890625,
                        "y": 4251.48046875,
                        "z": 360.29541015625
                    },
                    "rotation": {
                        "roll": 0.0026200751308351755,
                        "pitch": 0.4104943573474884,
                        "yaw": 9.28478717803955
                    }
                },
                "velocity": {
                    "x": 7.843855857849121,
                    "y": 1.278132438659668,
                    "z": 0.060016047209501266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.889903545379639,
                "transform": {
                    "location": {
                        "x": 2858.4423828125,
                        "y": 4247.45849609375,
                        "z": 360.22314453125
                    },
                    "rotation": {
                        "roll": 0.008344393223524094,
                        "pitch": 0.4095517694950104,
                        "yaw": 9.42668342590332
                    }
                },
                "velocity": {
                    "x": 7.78402042388916,
                    "y": 1.2868576049804688,
                    "z": 0.060029249638319016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015684894751757383,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0013937602052465081,
                        "pitch": -0.42391565442085266,
                        "yaw": -171.32586669921875
                    }
                },
                "velocity": {
                    "x": -3.3698452170938253e-05,
                    "y": 2.592494638520293e-06,
                    "z": 0.0015681253280490637
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.896902084350586,
                "transform": {
                    "location": {
                        "x": 2889.1630859375,
                        "y": 4248.95556640625,
                        "z": 360.43951416015625
                    },
                    "rotation": {
                        "roll": -0.001098633510991931,
                        "pitch": -0.49093347787857056,
                        "yaw": -170.81375122070312
                    }
                },
                "velocity": {
                    "x": -14.705510139465332,
                    "y": -2.3780934810638428,
                    "z": -0.10162586718797684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987290382385254,
                "transform": {
                    "location": {
                        "x": 2908.828125,
                        "y": 4255.62939453125,
                        "z": 360.5724182128906
                    },
                    "rotation": {
                        "roll": -0.0004577606450766325,
                        "pitch": 0.4021342098712921,
                        "yaw": 9.188958168029785
                    }
                },
                "velocity": {
                    "x": 7.8846025466918945,
                    "y": 1.275420069694519,
                    "z": 0.0561651885509491
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079048156738281,
                "transform": {
                    "location": {
                        "x": 2914.244873046875,
                        "y": 4259.79931640625,
                        "z": 360.61663818359375
                    },
                    "rotation": {
                        "roll": -0.0001220693375216797,
                        "pitch": 0.40580883622169495,
                        "yaw": 9.19438648223877
                    }
                },
                "velocity": {
                    "x": 7.975037574768066,
                    "y": 1.2909356355667114,
                    "z": 0.057299938052892685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.9580078125,
                        "y": 4262.34814453125,
                        "z": 360.8912353515625
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.322495460510254,
                "transform": {
                    "location": {
                        "x": 2862.460205078125,
                        "y": 4241.33984375,
                        "z": 360.2413330078125
                    },
                    "rotation": {
                        "roll": 0.000303895678371191,
                        "pitch": -0.4399734437465668,
                        "yaw": -170.80686950683594
                    }
                },
                "velocity": {
                    "x": -7.228234767913818,
                    "y": -1.1698613166809082,
                    "z": -0.054660994559526443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.396289348602295,
                "transform": {
                    "location": {
                        "x": 2845.791748046875,
                        "y": 4238.6435546875,
                        "z": 360.1207275390625
                    },
                    "rotation": {
                        "roll": 0.0018242455553263426,
                        "pitch": -0.3091070353984833,
                        "yaw": -170.8913116455078
                    }
                },
                "velocity": {
                    "x": -4.339641094207764,
                    "y": -0.7026904821395874,
                    "z": -0.033171091228723526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3610124588012695,
                "transform": {
                    "location": {
                        "x": 2856.983642578125,
                        "y": 4243.74658203125,
                        "z": 360.20794677734375
                    },
                    "rotation": {
                        "roll": 0.00034396705450490117,
                        "pitch": -0.49905458092689514,
                        "yaw": -170.81304931640625
                    }
                },
                "velocity": {
                    "x": -7.266401290893555,
                    "y": -1.1750503778457642,
                    "z": -0.05634879320859909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.678779125213623,
                "transform": {
                    "location": {
                        "x": 2841.059814453125,
                        "y": 4241.21484375,
                        "z": 360.0861511230469
                    },
                    "rotation": {
                        "roll": 0.09980814903974533,
                        "pitch": -0.5090880990028381,
                        "yaw": -172.31211853027344
                    }
                },
                "velocity": {
                    "x": -4.647715091705322,
                    "y": -0.53682541847229,
                    "z": -0.03922989219427109
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.19990390539169312,
        "expert_target_speed": 7.649589493631659,
        "target_point": [
            29.113711315126874,
            0.2858955561987573
        ],
        "target_point_next": [
            29.113711315126874,
            0.2858955561987573
        ]
    },
    "420": {
        "acceleration": [
            -1.3802623748779297,
            -0.09173870086669922,
            -0.017560943961143494
        ],
        "angular_velocity": [
            -0.06893903017044067,
            0.12807275354862213,
            -3.5565035343170166
        ],
        "forward_vector": [
            -0.9907423257827759,
            -0.13567155599594116,
            -0.004787307232618332
        ],
        "right_vector": [
            0.1356775462627411,
            -0.9907525777816772,
            -0.0009485274204052985
        ],
        "location": [
            2875.753173828125,
            4243.34814453125,
            360.337646484375
        ],
        "rotation": [
            0.05434724688529968,
            -0.27429354190826416,
            -172.20245361328125
        ],
        "velocity": [
            -7.460566997528076,
            -1.0094388723373413,
            -0.05106303468346596
        ],
        "speed": 7.528547453632126,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.130117416381836,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2860.7958984375,
                4241.0703125,
                360.2289123535156
            ],
            "velocity": [
                -6.323604583740234,
                -1.0234088897705078,
                -0.0478559285402298
            ],
            "speed_kmh": 23.061823348700663,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.296932220458984,
                "transform": {
                    "location": {
                        "x": 2929.87841796875,
                        "y": 4255.54345703125,
                        "z": 360.720458984375
                    },
                    "rotation": {
                        "roll": -0.0010681161656975746,
                        "pitch": -0.3958367705345154,
                        "yaw": -170.8250732421875
                    }
                },
                "velocity": {
                    "x": -11.152140617370605,
                    "y": -1.801088809967041,
                    "z": -0.08074703812599182
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047216415405273,
                "transform": {
                    "location": {
                        "x": 2864.849609375,
                        "y": 4251.8017578125,
                        "z": 360.3098449707031
                    },
                    "rotation": {
                        "roll": 0.0015048471977934241,
                        "pitch": 0.42422986030578613,
                        "yaw": 9.254578590393066
                    }
                },
                "velocity": {
                    "x": 7.942306995391846,
                    "y": 1.2939374446868896,
                    "z": 0.05640764161944389
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.122745513916016,
                "transform": {
                    "location": {
                        "x": 2860.419189453125,
                        "y": 4247.7841796875,
                        "z": 360.2381286621094
                    },
                    "rotation": {
                        "roll": 0.006848364602774382,
                        "pitch": 0.44488435983657837,
                        "yaw": 9.331127166748047
                    }
                },
                "velocity": {
                    "x": 8.015064239501953,
                    "y": 1.3168699741363525,
                    "z": 0.059969909489154816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016623609699308872,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0013937602052465081,
                        "pitch": -0.42391565442085266,
                        "yaw": -171.32586669921875
                    }
                },
                "velocity": {
                    "x": -2.4213566575781442e-05,
                    "y": -2.1021562133682892e-05,
                    "z": 0.001662051654420793
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.584609985351562,
                "transform": {
                    "location": {
                        "x": 2885.662841796875,
                        "y": 4248.38916015625,
                        "z": 360.4153747558594
                    },
                    "rotation": {
                        "roll": -0.0018005419988185167,
                        "pitch": -0.6246002912521362,
                        "yaw": -170.7979278564453
                    }
                },
                "velocity": {
                    "x": -13.40958309173584,
                    "y": -2.1716856956481934,
                    "z": -0.0920681357383728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018976211547852,
                "transform": {
                    "location": {
                        "x": 2910.803466796875,
                        "y": 4255.94873046875,
                        "z": 360.58642578125
                    },
                    "rotation": {
                        "roll": -0.0007934556342661381,
                        "pitch": 0.4048457741737366,
                        "yaw": 9.188851356506348
                    }
                },
                "velocity": {
                    "x": 7.9158782958984375,
                    "y": 1.2804830074310303,
                    "z": 0.05664150044322014
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044900894165039,
                "transform": {
                    "location": {
                        "x": 2916.234375,
                        "y": 4260.12158203125,
                        "z": 360.6308898925781
                    },
                    "rotation": {
                        "roll": 0.0008606823394075036,
                        "pitch": 0.40843847393989563,
                        "yaw": 9.19453239440918
                    }
                },
                "velocity": {
                    "x": 7.941337585449219,
                    "y": 1.28545081615448,
                    "z": 0.05662259832024574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26577,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2953.014404296875,
                        "y": 4262.68017578125,
                        "z": 360.90728759765625
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.406062126159668,
                "transform": {
                    "location": {
                        "x": 2860.7958984375,
                        "y": 4241.0703125,
                        "z": 360.2289123535156
                    },
                    "rotation": {
                        "roll": -0.00036620983155444264,
                        "pitch": -0.4441193640232086,
                        "yaw": -170.8068389892578
                    }
                },
                "velocity": {
                    "x": -6.323604583740234,
                    "y": -1.0234088897705078,
                    "z": -0.0478559285402298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.277969837188721,
                "transform": {
                    "location": {
                        "x": 2844.604736328125,
                        "y": 4238.4521484375,
                        "z": 360.11328125
                    },
                    "rotation": {
                        "roll": 0.0012016103137284517,
                        "pitch": -0.4901685118675232,
                        "yaw": -170.85354614257812
                    }
                },
                "velocity": {
                    "x": -5.210081100463867,
                    "y": -0.8429863452911377,
                    "z": -0.037374358624219894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.51449728012085,
                "transform": {
                    "location": {
                        "x": 2855.350341796875,
                        "y": 4243.48291015625,
                        "z": 360.1951599121094
                    },
                    "rotation": {
                        "roll": -0.0004577619256451726,
                        "pitch": -0.6835311651229858,
                        "yaw": -170.8282470703125
                    }
                },
                "velocity": {
                    "x": -5.443931579589844,
                    "y": -0.8783599138259888,
                    "z": -0.04209699109196663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.726698875427246,
                "transform": {
                    "location": {
                        "x": 2839.93359375,
                        "y": 4241.08935546875,
                        "z": 360.0774841308594
                    },
                    "rotation": {
                        "roll": 0.05971464514732361,
                        "pitch": -0.4527254104614258,
                        "yaw": -173.1167449951172
                    }
                },
                "velocity": {
                    "x": -4.699145793914795,
                    "y": -0.5084743499755859,
                    "z": -0.03411721810698509
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15257208049297333,
        "expert_target_speed": 7.844324956031946,
        "target_point": [
            27.27078918628775,
            0.4216528837754674
        ],
        "target_point_next": [
            27.27078918628775,
            0.4216528837754674
        ]
    },
    "425": {
        "acceleration": [
            -1.3601493835449219,
            -0.15523195266723633,
            -0.012110993266105652
        ],
        "angular_velocity": [
            -0.07016276568174362,
            -0.0019804504700005054,
            2.381643295288086
        ],
        "forward_vector": [
            -0.9909748435020447,
            -0.13397100567817688,
            -0.004538043402135372
        ],
        "right_vector": [
            0.13397517800331116,
            -0.9909844994544983,
            -0.0006255198968574405
        ],
        "location": [
            2873.84375,
            4243.09033203125,
            360.32415771484375
        ],
        "rotation": [
            0.035840023308992386,
            -0.26001161336898804,
            -172.30079650878906
        ],
        "velocity": [
            -7.799233913421631,
            -1.047904372215271,
            -0.054362405091524124
        ],
        "speed": 7.869317200975823,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.840354919433594,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2859.18017578125,
                4240.80908203125,
                360.2164306640625
            ],
            "velocity": [
                -6.804693222045898,
                -1.1012829542160034,
                -0.051355991512537
            ],
            "speed_kmh": 24.816330835224573,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.973676681518555,
                "transform": {
                    "location": {
                        "x": 2927.003173828125,
                        "y": 4255.07861328125,
                        "z": 360.6993408203125
                    },
                    "rotation": {
                        "roll": -0.0012207048712298274,
                        "pitch": -0.393856018781662,
                        "yaw": -170.81080627441406
                    }
                },
                "velocity": {
                    "x": -11.819695472717285,
                    "y": -1.9121614694595337,
                    "z": -0.08597587049007416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051492691040039,
                "transform": {
                    "location": {
                        "x": 2866.8408203125,
                        "y": 4252.1259765625,
                        "z": 360.3243713378906
                    },
                    "rotation": {
                        "roll": 0.0007252824725583196,
                        "pitch": 0.40939468145370483,
                        "yaw": 9.242984771728516
                    }
                },
                "velocity": {
                    "x": 7.947129249572754,
                    "y": 1.2909324169158936,
                    "z": 0.05627308785915375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039715766906738,
                "transform": {
                    "location": {
                        "x": 2862.41748046875,
                        "y": 4248.1123046875,
                        "z": 360.25286865234375
                    },
                    "rotation": {
                        "roll": 0.005001869983971119,
                        "pitch": 0.41951704025268555,
                        "yaw": 9.3274507522583
                    }
                },
                "velocity": {
                    "x": 7.9339165687561035,
                    "y": 1.2986174821853638,
                    "z": 0.059856489300727844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000800169596914202,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0023820935748517513,
                        "pitch": -0.4237380921840668,
                        "yaw": -171.325927734375
                    }
                },
                "velocity": {
                    "x": -2.057872734440025e-05,
                    "y": -3.036660928046331e-06,
                    "z": 0.000799899164121598
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.3851957321167,
                "transform": {
                    "location": {
                        "x": 2882.490234375,
                        "y": 4247.875,
                        "z": 360.3935852050781
                    },
                    "rotation": {
                        "roll": -0.00018310584709979594,
                        "pitch": -0.6401389837265015,
                        "yaw": -170.8000946044922
                    }
                },
                "velocity": {
                    "x": -12.225605964660645,
                    "y": -1.9800716638565063,
                    "z": -0.08329767733812332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987712860107422,
                "transform": {
                    "location": {
                        "x": 2912.7783203125,
                        "y": 4256.26806640625,
                        "z": 360.6004943847656
                    },
                    "rotation": {
                        "roll": 0.000267527939286083,
                        "pitch": 0.40379393100738525,
                        "yaw": 9.189594268798828
                    }
                },
                "velocity": {
                    "x": 7.884894371032715,
                    "y": 1.2762478590011597,
                    "z": 0.0564970001578331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079168319702148,
                "transform": {
                    "location": {
                        "x": 2918.223876953125,
                        "y": 4260.44384765625,
                        "z": 360.6453552246094
                    },
                    "rotation": {
                        "roll": -0.00033569501829333603,
                        "pitch": 0.40990012884140015,
                        "yaw": 9.194470405578613
                    }
                },
                "velocity": {
                    "x": 7.97516393661499,
                    "y": 1.2909002304077148,
                    "z": 0.05737952142953873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.893424987792969,
                "transform": {
                    "location": {
                        "x": 2859.18017578125,
                        "y": 4240.80908203125,
                        "z": 360.2164306640625
                    },
                    "rotation": {
                        "roll": -6.103978375904262e-05,
                        "pitch": -0.4202888309955597,
                        "yaw": -170.8074951171875
                    }
                },
                "velocity": {
                    "x": -6.804693222045898,
                    "y": -1.1012829542160034,
                    "z": -0.051355991512537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.07553768157959,
                "transform": {
                    "location": {
                        "x": 2843.325439453125,
                        "y": 4238.2451171875,
                        "z": 360.1031188964844
                    },
                    "rotation": {
                        "roll": 0.0012997162993997335,
                        "pitch": -0.4461342692375183,
                        "yaw": -170.8334503173828
                    }
                },
                "velocity": {
                    "x": -5.010153293609619,
                    "y": -0.8110674619674683,
                    "z": -0.040182869881391525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2364766597747803,
                "transform": {
                    "location": {
                        "x": 2854.4697265625,
                        "y": 4243.34130859375,
                        "z": 360.1879577636719
                    },
                    "rotation": {
                        "roll": 0.0006275445339269936,
                        "pitch": -0.7537181377410889,
                        "yaw": -170.86727905273438
                    }
                },
                "velocity": {
                    "x": -3.1949965953826904,
                    "y": -0.5159753561019897,
                    "z": -0.02339996211230755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2090864181518555,
                "transform": {
                    "location": {
                        "x": 2838.816162109375,
                        "y": 4240.970703125,
                        "z": 360.0690612792969
                    },
                    "rotation": {
                        "roll": 0.04127252846956253,
                        "pitch": -0.5147093534469604,
                        "yaw": -173.60195922851562
                    }
                },
                "velocity": {
                    "x": -4.186266899108887,
                    "y": -0.4364756941795349,
                    "z": -0.03264293447136879
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09506884962320328,
        "expert_target_speed": 8.089919615705263,
        "target_point": [
            25.343274938366275,
            0.46878759336912834
        ],
        "target_point_next": [
            25.343274938366275,
            0.46878759336912834
        ]
    },
    "430": {
        "acceleration": [
            -1.1824798583984375,
            -0.12747526168823242,
            -0.004529505968093872
        ],
        "angular_velocity": [
            0.022940736263990402,
            -0.060081083327531815,
            -2.84279465675354
        ],
        "forward_vector": [
            -0.991182267665863,
            -0.13242128491401672,
            -0.004729729611426592
        ],
        "right_vector": [
            0.13242512941360474,
            -0.9911929368972778,
            -0.0005059884279035032
        ],
        "location": [
            2871.852783203125,
            4242.8232421875,
            360.31005859375
        ],
        "rotation": [
            0.028991326689720154,
            -0.2709945738315582,
            -172.390380859375
        ],
        "velocity": [
            -8.110278129577637,
            -1.081349492073059,
            -0.05718262866139412
        ],
        "speed": 8.182049135950724,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.706937789916992,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2857.329345703125,
                4240.509765625,
                360.2023620605469
            ],
            "velocity": [
                -7.616614818572998,
                -1.2319687604904175,
                -0.05771297961473465
            ],
            "speed_kmh": 27.776956860986864,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.619109153747559,
                "transform": {
                    "location": {
                        "x": 2923.965576171875,
                        "y": 4254.5869140625,
                        "z": 360.6770935058594
                    },
                    "rotation": {
                        "roll": 0.00014658566215075552,
                        "pitch": -0.3900379240512848,
                        "yaw": -170.79615783691406
                    }
                },
                "velocity": {
                    "x": -12.45651912689209,
                    "y": -2.0171475410461426,
                    "z": -0.09039071202278137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.975905418395996,
                "transform": {
                    "location": {
                        "x": 2868.81396484375,
                        "y": 4252.44677734375,
                        "z": 360.338623046875
                    },
                    "rotation": {
                        "roll": -0.0004882806970272213,
                        "pitch": 0.4056927263736725,
                        "yaw": 9.225362777709961
                    }
                },
                "velocity": {
                    "x": 7.872561454772949,
                    "y": 1.2785080671310425,
                    "z": 0.05715135484933853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021504402160645,
                "transform": {
                    "location": {
                        "x": 2864.393798828125,
                        "y": 4248.43505859375,
                        "z": 360.2676086425781
                    },
                    "rotation": {
                        "roll": 0.0033116228878498077,
                        "pitch": 0.41899794340133667,
                        "yaw": 9.253044128417969
                    }
                },
                "velocity": {
                    "x": 7.916788101196289,
                    "y": 1.290576696395874,
                    "z": 0.058455076068639755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0023883034009486437,
                        "pitch": -0.42371076345443726,
                        "yaw": -171.3259735107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.683126449584961,
                "transform": {
                    "location": {
                        "x": 2879.389404296875,
                        "y": 4247.37353515625,
                        "z": 360.3722229003906
                    },
                    "rotation": {
                        "roll": -0.0010070778662338853,
                        "pitch": -0.4060683846473694,
                        "yaw": -170.8021697998047
                    }
                },
                "velocity": {
                    "x": -12.519505500793457,
                    "y": -2.0287816524505615,
                    "z": -0.08791039884090424
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019193649291992,
                "transform": {
                    "location": {
                        "x": 2914.75341796875,
                        "y": 4256.58740234375,
                        "z": 360.61468505859375
                    },
                    "rotation": {
                        "roll": 0.000223784358240664,
                        "pitch": 0.40619131922721863,
                        "yaw": 9.193672180175781
                    }
                },
                "velocity": {
                    "x": 7.915843486785889,
                    "y": 1.2820720672607422,
                    "z": 0.05642060935497284
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044770240783691,
                "transform": {
                    "location": {
                        "x": 2920.213623046875,
                        "y": 4260.765625,
                        "z": 360.65972900390625
                    },
                    "rotation": {
                        "roll": 0.000609029782935977,
                        "pitch": 0.4123453199863434,
                        "yaw": 9.191123962402344
                    }
                },
                "velocity": {
                    "x": 7.941446304321289,
                    "y": 1.283953070640564,
                    "z": 0.05678948387503624
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.715821266174316,
                "transform": {
                    "location": {
                        "x": 2857.329345703125,
                        "y": 4240.509765625,
                        "z": 360.2023620605469
                    },
                    "rotation": {
                        "roll": -0.00012206953397253528,
                        "pitch": -0.41805535554885864,
                        "yaw": -170.80474853515625
                    }
                },
                "velocity": {
                    "x": -7.616614818572998,
                    "y": -1.2319687604904175,
                    "z": -0.05771297961473465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.830923557281494,
                "transform": {
                    "location": {
                        "x": 2842.0927734375,
                        "y": 4238.04150390625,
                        "z": 360.0928039550781
                    },
                    "rotation": {
                        "roll": 0.008344815112650394,
                        "pitch": -0.41494762897491455,
                        "yaw": -170.67942810058594
                    }
                },
                "velocity": {
                    "x": -4.76128625869751,
                    "y": -0.8164225816726685,
                    "z": -0.037794869393110275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.652665138244629,
                "transform": {
                    "location": {
                        "x": 2853.486083984375,
                        "y": 4243.1826171875,
                        "z": 360.18109130859375
                    },
                    "rotation": {
                        "roll": 5.884473284822889e-05,
                        "pitch": -0.34249982237815857,
                        "yaw": -170.83761596679688
                    }
                },
                "velocity": {
                    "x": -4.5929107666015625,
                    "y": -0.7424598336219788,
                    "z": -0.03485032171010971
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.189366817474365,
                "transform": {
                    "location": {
                        "x": 2837.7666015625,
                        "y": 4240.8623046875,
                        "z": 360.06109619140625
                    },
                    "rotation": {
                        "roll": 0.03441540524363518,
                        "pitch": -0.46077820658683777,
                        "yaw": -173.89312744140625
                    }
                },
                "velocity": {
                    "x": -4.167664051055908,
                    "y": -0.4246194660663605,
                    "z": -0.03269951790571213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.047258201986551285,
        "expert_target_speed": 8.3417640889636,
        "target_point": [
            23.333708967297227,
            0.5073354713372686
        ],
        "target_point_next": [
            23.333708967297227,
            0.5073354713372686
        ]
    },
    "435": {
        "acceleration": [
            -1.0538673400878906,
            -0.13742446899414062,
            0.003079324960708618
        ],
        "angular_velocity": [
            -0.047602493315935135,
            -0.04840094596147537,
            2.4846932888031006
        ],
        "forward_vector": [
            -0.9912042021751404,
            -0.1322503238916397,
            -0.004907707218080759
        ],
        "right_vector": [
            0.13225361704826355,
            -0.9912158250808716,
            -0.00035326971556060016
        ],
        "location": [
            2869.78857421875,
            4242.54833984375,
            360.29534912109375
        ],
        "rotation": [
            0.020241107791662216,
            -0.28119203448295593,
            -172.40025329589844
        ],
        "velocity": [
            -8.385899543762207,
            -1.116738200187683,
            -0.060515664517879486
        ],
        "speed": 8.459929985870428,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.51718521118164,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2855.4619140625,
                4240.20654296875,
                360.188232421875
            ],
            "velocity": [
                -7.1743597984313965,
                -1.1562378406524658,
                -0.055662766098976135
            ],
            "speed_kmh": 26.161728527627037,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.280111312866211,
                "transform": {
                    "location": {
                        "x": 2920.76611328125,
                        "y": 4254.06884765625,
                        "z": 360.65386962890625
                    },
                    "rotation": {
                        "roll": 0.0013046760577708483,
                        "pitch": -0.38830989599227905,
                        "yaw": -170.7927703857422
                    }
                },
                "velocity": {
                    "x": -13.10879898071289,
                    "y": -2.1241042613983154,
                    "z": -0.094500333070755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.068242073059082,
                "transform": {
                    "location": {
                        "x": 2870.795654296875,
                        "y": 4252.76806640625,
                        "z": 360.3528137207031
                    },
                    "rotation": {
                        "roll": -0.0005187977221794426,
                        "pitch": 0.4140392243862152,
                        "yaw": 9.211350440979004
                    }
                },
                "velocity": {
                    "x": 7.964007377624512,
                    "y": 1.2914756536483765,
                    "z": 0.05662555620074272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068570137023926,
                "transform": {
                    "location": {
                        "x": 2866.381103515625,
                        "y": 4248.7587890625,
                        "z": 360.28216552734375
                    },
                    "rotation": {
                        "roll": 0.0020219965372234583,
                        "pitch": 0.41771385073661804,
                        "yaw": 9.268468856811523
                    }
                },
                "velocity": {
                    "x": 7.963409900665283,
                    "y": 1.2971725463867188,
                    "z": 0.05712657794356346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0023883034009486437,
                        "pitch": -0.42371076345443726,
                        "yaw": -171.3259735107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.446972846984863,
                "transform": {
                    "location": {
                        "x": 2876.403564453125,
                        "y": 4246.89013671875,
                        "z": 360.3514099121094
                    },
                    "rotation": {
                        "roll": -0.0004577601212076843,
                        "pitch": -0.5877718925476074,
                        "yaw": -170.79788208007812
                    }
                },
                "velocity": {
                    "x": -11.299407958984375,
                    "y": -1.8303781747817993,
                    "z": -0.07932334393262863
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987584114074707,
                "transform": {
                    "location": {
                        "x": 2916.728271484375,
                        "y": 4256.90673828125,
                        "z": 360.6288146972656
                    },
                    "rotation": {
                        "roll": 0.001276560826227069,
                        "pitch": 0.40900537371635437,
                        "yaw": 9.200153350830078
                    }
                },
                "velocity": {
                    "x": 7.884650230407715,
                    "y": 1.2769197225570679,
                    "z": 0.05713074654340744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078840255737305,
                "transform": {
                    "location": {
                        "x": 2922.203125,
                        "y": 4261.08740234375,
                        "z": 360.6742248535156
                    },
                    "rotation": {
                        "roll": -0.0001830991532187909,
                        "pitch": 0.4119013547897339,
                        "yaw": 9.191320419311523
                    }
                },
                "velocity": {
                    "x": 7.974902629852295,
                    "y": 1.2904869318008423,
                    "z": 0.05678556486964226
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.267147064208984,
                "transform": {
                    "location": {
                        "x": 2855.4619140625,
                        "y": 4240.20654296875,
                        "z": 360.188232421875
                    },
                    "rotation": {
                        "roll": 0.00016532679728697985,
                        "pitch": -0.43963193893432617,
                        "yaw": -170.95230102539062
                    }
                },
                "velocity": {
                    "x": -7.1743597984313965,
                    "y": -1.1562378406524658,
                    "z": -0.055662766098976135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.633311748504639,
                "transform": {
                    "location": {
                        "x": 2840.93359375,
                        "y": 4237.84423828125,
                        "z": 360.08392333984375
                    },
                    "rotation": {
                        "roll": -0.001678469474427402,
                        "pitch": -0.4150364100933075,
                        "yaw": -170.49607849121094
                    }
                },
                "velocity": {
                    "x": -4.56641149520874,
                    "y": -0.7837048172950745,
                    "z": -0.035641804337501526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4458208084106445,
                "transform": {
                    "location": {
                        "x": 2852.200439453125,
                        "y": 4242.97412109375,
                        "z": 360.1715087890625
                    },
                    "rotation": {
                        "roll": -0.0007629405008628964,
                        "pitch": -0.32263079285621643,
                        "yaw": -170.8092803955078
                    }
                },
                "velocity": {
                    "x": -5.375624656677246,
                    "y": -0.8705542087554932,
                    "z": -0.041948236525058746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.060459613800049,
                "transform": {
                    "location": {
                        "x": 2836.76806640625,
                        "y": 4240.8046875,
                        "z": 360.0534973144531
                    },
                    "rotation": {
                        "roll": 0.3505987524986267,
                        "pitch": -0.46709612011909485,
                        "yaw": -175.7314910888672
                    }
                },
                "velocity": {
                    "x": -4.058883190155029,
                    "y": 0.10914172977209091,
                    "z": -0.02976839430630207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4375177025794983,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003424739697948098,
        "expert_target_speed": 8.483968919193671,
        "target_point": [
            21.251187916160003,
            0.5118496251164562
        ],
        "target_point_next": [
            21.251187916160003,
            0.5118496251164562
        ]
    },
    "440": {
        "acceleration": [
            -0.8194732666015625,
            -0.22590398788452148,
            0.0006813555955886841
        ],
        "angular_velocity": [
            -0.016975127160549164,
            -0.0747932568192482,
            -2.110441207885742
        ],
        "forward_vector": [
            -0.9912223219871521,
            -0.13210554420948029,
            -0.005139327608048916
        ],
        "right_vector": [
            0.13210809230804443,
            -0.9912353157997131,
            -0.00015766381693538278
        ],
        "location": [
            2867.66015625,
            4242.26416015625,
            360.2799377441406
        ],
        "rotation": [
            0.00903359055519104,
            -0.2944630980491638,
            -172.4086151123047
        ],
        "velocity": [
            -8.623645782470703,
            -1.157652735710144,
            -0.06102050468325615
        ],
        "speed": 8.701001461787138,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.032427787780762,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2853.82177734375,
                4239.94091796875,
                360.17578125
            ],
            "velocity": [
                -5.9703826904296875,
                -0.9583243131637573,
                -0.046219389885663986
            ],
            "speed_kmh": 21.769135165190757,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.501220703125,
                        "y": 4255.91552734375,
                        "z": 360.8875732421875
                    },
                    "rotation": {
                        "roll": -0.006317138671875,
                        "pitch": -0.4687217175960541,
                        "yaw": -170.0821990966797
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.927828788757324,
                "transform": {
                    "location": {
                        "x": 2917.40576171875,
                        "y": 4253.5244140625,
                        "z": 360.6295471191406
                    },
                    "rotation": {
                        "roll": 0.0005277674063108861,
                        "pitch": -0.3849426209926605,
                        "yaw": -170.7965545654297
                    }
                },
                "velocity": {
                    "x": -13.748188972473145,
                    "y": -2.2275679111480713,
                    "z": -0.09817052632570267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995999813079834,
                "transform": {
                    "location": {
                        "x": 2872.778076171875,
                        "y": 4253.08935546875,
                        "z": 360.3669128417969
                    },
                    "rotation": {
                        "roll": 0.00021405555889941752,
                        "pitch": 0.3986985981464386,
                        "yaw": 9.210494995117188
                    }
                },
                "velocity": {
                    "x": 7.89271354675293,
                    "y": 1.2798008918762207,
                    "z": 0.056524381041526794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034802436828613,
                "transform": {
                    "location": {
                        "x": 2868.36767578125,
                        "y": 4249.08154296875,
                        "z": 360.2965393066406
                    },
                    "rotation": {
                        "roll": 0.002651604823768139,
                        "pitch": 0.40862971544265747,
                        "yaw": 9.21544361114502
                    }
                },
                "velocity": {
                    "x": 7.930850028991699,
                    "y": 1.2870217561721802,
                    "z": 0.056940507143735886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.09619140625,
                        "y": 4254.220703125,
                        "z": 360.80377197265625
                    },
                    "rotation": {
                        "roll": 0.0023883034009486437,
                        "pitch": -0.42371076345443726,
                        "yaw": -171.3259735107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.756749153137207,
                "transform": {
                    "location": {
                        "x": 2873.760009765625,
                        "y": 4246.4619140625,
                        "z": 360.3328552246094
                    },
                    "rotation": {
                        "roll": -0.000518800865393132,
                        "pitch": -0.711855947971344,
                        "yaw": -170.80381774902344
                    }
                },
                "velocity": {
                    "x": -9.630943298339844,
                    "y": -1.560275673866272,
                    "z": -0.06793560087680817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018553733825684,
                "transform": {
                    "location": {
                        "x": 2918.70361328125,
                        "y": 4257.2265625,
                        "z": 360.64312744140625
                    },
                    "rotation": {
                        "roll": 0.0006255052285268903,
                        "pitch": 0.40979084372520447,
                        "yaw": 9.206212043762207
                    }
                },
                "velocity": {
                    "x": 7.915067672729492,
                    "y": 1.2828303575515747,
                    "z": 0.05709311366081238
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04504108428955,
                "transform": {
                    "location": {
                        "x": 2924.192626953125,
                        "y": 4261.4091796875,
                        "z": 360.6887512207031
                    },
                    "rotation": {
                        "roll": -0.000457761314464733,
                        "pitch": 0.41390261054039,
                        "yaw": 9.193187713623047
                    }
                },
                "velocity": {
                    "x": 7.9413981437683105,
                    "y": 1.2859296798706055,
                    "z": 0.05711608752608299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.0469818115234375,
                "transform": {
                    "location": {
                        "x": 2853.82177734375,
                        "y": 4239.94091796875,
                        "z": 360.17578125
                    },
                    "rotation": {
                        "roll": 0.003070780076086521,
                        "pitch": -0.4628545641899109,
                        "yaw": -171.17562866210938
                    }
                },
                "velocity": {
                    "x": -5.9703826904296875,
                    "y": -0.9583243131637573,
                    "z": -0.046219389885663986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.383627414703369,
                "transform": {
                    "location": {
                        "x": 2839.825927734375,
                        "y": 4237.65478515625,
                        "z": 360.0754089355469
                    },
                    "rotation": {
                        "roll": -0.002563477959483862,
                        "pitch": -0.41167595982551575,
                        "yaw": -170.39501953125
                    }
                },
                "velocity": {
                    "x": -4.32027006149292,
                    "y": -0.7418758273124695,
                    "z": -0.03279159590601921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.5449299812316895,
                "transform": {
                    "location": {
                        "x": 2850.794677734375,
                        "y": 4242.74658203125,
                        "z": 360.16064453125
                    },
                    "rotation": {
                        "roll": 0.0004965119296684861,
                        "pitch": -0.2790473699569702,
                        "yaw": -170.80294799804688
                    }
                },
                "velocity": {
                    "x": -6.460620403289795,
                    "y": -1.0459359884262085,
                    "z": -0.05005503073334694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.309344291687012,
                "transform": {
                    "location": {
                        "x": 2835.5986328125,
                        "y": 4240.87255859375,
                        "z": 360.04541015625
                    },
                    "rotation": {
                        "roll": 0.35187414288520813,
                        "pitch": -0.23422083258628845,
                        "yaw": 179.6096954345703
                    }
                },
                "velocity": {
                    "x": -5.294167518615723,
                    "y": 0.39992856979370117,
                    "z": -0.03138890117406845
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26415,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.713134765625,
                        "y": 4249.23388671875,
                        "z": 360.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.41464027762413025,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 26414,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.63623046875,
                        "y": 4250.19140625,
                        "z": 360.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010986318811774254,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 26413,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2965274453163147,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04883012920618057,
        "expert_target_speed": 8.498049292580914,
        "target_point": [
            19.103807265279002,
            0.5144508131815879
        ],
        "target_point_next": [
            19.103807265279002,
            0.5144508131815879
        ]
    },
    "445": {
        "acceleration": [
            0.31742095947265625,
            -0.13200998306274414,
            -0.004712492227554321
        ],
        "angular_velocity": [
            -0.11908131092786789,
            -0.4187160134315491,
            3.5765860080718994
        ],
        "forward_vector": [
            -0.9906697869300842,
            -0.13614819943904877,
            -0.006093225441873074
        ],
        "right_vector": [
            0.13614772260189056,
            -0.9906884431838989,
            0.0004937407793477178
        ],
        "location": [
            2865.48828125,
            4241.9677734375,
            360.264404296875
        ],
        "rotation": [
            -0.028289785608649254,
            -0.34911826252937317,
            -172.17483520507812
        ],
        "velocity": [
            -8.694849967956543,
            -1.2096763849258423,
            -0.06450073421001434
        ],
        "speed": 8.778595156488375,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.297382354736328,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2852.38427734375,
                4239.71044921875,
                360.16455078125
            ],
            "velocity": [
                -5.741157054901123,
                -0.9171602129936218,
                -0.04449905455112457
            ],
            "speed_kmh": 20.930849329912352,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.26708984375,
                        "y": 4255.7158203125,
                        "z": 360.87786865234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4429035782814026,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 14.576373100280762,
                "transform": {
                    "location": {
                        "x": 2913.885498046875,
                        "y": 4252.9541015625,
                        "z": 360.6042785644531
                    },
                    "rotation": {
                        "roll": 0.0011437686625868082,
                        "pitch": -0.38247692584991455,
                        "yaw": -170.80282592773438
                    }
                },
                "velocity": {
                    "x": -14.388572692871094,
                    "y": -2.330052614212036,
                    "z": -0.10242398828268051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040000915527344,
                "transform": {
                    "location": {
                        "x": 2874.755126953125,
                        "y": 4253.40966796875,
                        "z": 360.38079833984375
                    },
                    "rotation": {
                        "roll": -9.155608131550252e-05,
                        "pitch": 0.3971344828605652,
                        "yaw": 9.203402519226074
                    }
                },
                "velocity": {
                    "x": 7.936320781707764,
                    "y": 1.2857742309570312,
                    "z": 0.056630417704582214
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047059059143066,
                "transform": {
                    "location": {
                        "x": 2870.35107421875,
                        "y": 4249.404296875,
                        "z": 360.31085205078125
                    },
                    "rotation": {
                        "roll": 0.0012632642174139619,
                        "pitch": 0.4129190742969513,
                        "yaw": 9.230704307556152
                    }
                },
                "velocity": {
                    "x": 7.942933559417725,
                    "y": 1.2890843152999878,
                    "z": 0.056902628391981125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.03515625,
                        "y": 4253.9169921875,
                        "z": 360.79156494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.141436576843262,
                "transform": {
                    "location": {
                        "x": 2871.611572265625,
                        "y": 4246.1142578125,
                        "z": 360.3175048828125
                    },
                    "rotation": {
                        "roll": 0.001736075384542346,
                        "pitch": -0.7451121211051941,
                        "yaw": -170.83168029785156
                    }
                },
                "velocity": {
                    "x": -8.036904335021973,
                    "y": -1.2991896867752075,
                    "z": -0.057018522173166275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987270832061768,
                "transform": {
                    "location": {
                        "x": 2920.678466796875,
                        "y": 4257.546875,
                        "z": 360.65740966796875
                    },
                    "rotation": {
                        "roll": 0.00034775162930600345,
                        "pitch": 0.41214725375175476,
                        "yaw": 9.208813667297363
                    }
                },
                "velocity": {
                    "x": 7.884162902832031,
                    "y": 1.2779899835586548,
                    "z": 0.05664645880460739
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078462600708008,
                "transform": {
                    "location": {
                        "x": 2926.18212890625,
                        "y": 4261.73095703125,
                        "z": 360.7032775878906
                    },
                    "rotation": {
                        "roll": 0.001205603708513081,
                        "pitch": 0.4172494113445282,
                        "yaw": 9.192145347595215
                    }
                },
                "velocity": {
                    "x": 7.974515914916992,
                    "y": 1.2904739379882812,
                    "z": 0.057677190750837326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.814124584197998,
                "transform": {
                    "location": {
                        "x": 2852.38427734375,
                        "y": 4239.71044921875,
                        "z": 360.16455078125
                    },
                    "rotation": {
                        "roll": 0.0032136135268956423,
                        "pitch": -0.4438529908657074,
                        "yaw": -171.23548889160156
                    }
                },
                "velocity": {
                    "x": -5.741157054901123,
                    "y": -0.9171602129936218,
                    "z": -0.04449905455112457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.181100845336914,
                "transform": {
                    "location": {
                        "x": 2838.76953125,
                        "y": 4237.4736328125,
                        "z": 360.06732177734375
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": -0.41283708810806274,
                        "yaw": -170.33212280273438
                    }
                },
                "velocity": {
                    "x": -4.1205596923828125,
                    "y": -0.7081961631774902,
                    "z": -0.03243614733219147
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8884992599487305,
                "transform": {
                    "location": {
                        "x": 2849.047119140625,
                        "y": 4242.4638671875,
                        "z": 360.1469421386719
                    },
                    "rotation": {
                        "roll": -0.0003662129456643015,
                        "pitch": -0.3651692271232605,
                        "yaw": -170.80203247070312
                    }
                },
                "velocity": {
                    "x": -6.799746990203857,
                    "y": -1.100922703742981,
                    "z": -0.053208522498607635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.522126197814941,
                "transform": {
                    "location": {
                        "x": 2834.25244140625,
                        "y": 4240.99365234375,
                        "z": 360.0364074707031
                    },
                    "rotation": {
                        "roll": 0.3260291516780853,
                        "pitch": -0.28548821806907654,
                        "yaw": 176.16493225097656
                    }
                },
                "velocity": {
                    "x": -5.492390155792236,
                    "y": 0.5710804462432861,
                    "z": -0.03734865412116051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07670392096042633,
        "expert_target_speed": 8.417394330938219,
        "target_point": [
            16.91374328385732,
            0.4385727796347112
        ],
        "target_point_next": [
            16.91374328385732,
            0.4385727796347112
        ]
    },
    "450": {
        "acceleration": [
            3.3022117614746094,
            0.3037118911743164,
            0.04532173275947571
        ],
        "angular_velocity": [
            0.13698570430278778,
            -0.9793829917907715,
            -1.4743261337280273
        ],
        "forward_vector": [
            -0.990021288394928,
            -0.14059792459011078,
            -0.009493445977568626
        ],
        "right_vector": [
            0.1405969262123108,
            -0.9900665879249573,
            0.0007749448413960636
        ],
        "location": [
            2863.375,
            4241.6689453125,
            360.2494812011719
        ],
        "rotation": [
            -0.0444030724465847,
            -0.5439425706863403,
            -171.9171905517578
        ],
        "velocity": [
            -8.124834060668945,
            -1.1717989444732666,
            -0.06047952175140381
        ],
        "speed": 8.208900126062863,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.626701354980469,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2850.93994140625,
                4239.4794921875,
                360.1534729003906
            ],
            "velocity": [
                -5.029377460479736,
                -0.8002793192863464,
                -0.03969961032271385
            ],
            "speed_kmh": 18.334097264807657,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2948.79150390625,
                        "y": 4255.3671875,
                        "z": 360.8626403808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.225977897644043,
                "transform": {
                    "location": {
                        "x": 2910.204833984375,
                        "y": 4252.3583984375,
                        "z": 360.57806396484375
                    },
                    "rotation": {
                        "roll": 0.0008250436512753367,
                        "pitch": -0.38064640760421753,
                        "yaw": -170.81716918945312
                    }
                },
                "velocity": {
                    "x": -15.030046463012695,
                    "y": -2.43241810798645,
                    "z": -0.1070147305727005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014829635620117,
                "transform": {
                    "location": {
                        "x": 2876.737060546875,
                        "y": 4253.73095703125,
                        "z": 360.3946838378906
                    },
                    "rotation": {
                        "roll": -0.0004272472870070487,
                        "pitch": 0.3979746103286743,
                        "yaw": 9.202545166015625
                    }
                },
                "velocity": {
                    "x": 7.911488056182861,
                    "y": 1.2816712856292725,
                    "z": 0.05616888776421547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048641204833984,
                "transform": {
                    "location": {
                        "x": 2872.338134765625,
                        "y": 4249.72607421875,
                        "z": 360.3249816894531
                    },
                    "rotation": {
                        "roll": 0.0010649757459759712,
                        "pitch": 0.4047979712486267,
                        "yaw": 9.189845085144043
                    }
                },
                "velocity": {
                    "x": 7.944992542266846,
                    "y": 1.2862870693206787,
                    "z": 0.056469086557626724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2934.431396484375,
                        "y": 4253.07421875,
                        "z": 360.7566223144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.553401947021484,
                "transform": {
                    "location": {
                        "x": 2869.574951171875,
                        "y": 4245.78515625,
                        "z": 360.30291748046875
                    },
                    "rotation": {
                        "roll": 0.0011203627800568938,
                        "pitch": -0.4309985637664795,
                        "yaw": -170.82476806640625
                    }
                },
                "velocity": {
                    "x": -8.44372272491455,
                    "y": -1.364014983177185,
                    "z": -0.06083376705646515
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.019147872924805,
                "transform": {
                    "location": {
                        "x": 2922.6533203125,
                        "y": 4257.8671875,
                        "z": 360.6717834472656
                    },
                    "rotation": {
                        "roll": -0.00015258596977218986,
                        "pitch": 0.41306933760643005,
                        "yaw": 9.209929466247559
                    }
                },
                "velocity": {
                    "x": 7.915778160095215,
                    "y": 1.2821439504623413,
                    "z": 0.057440899312496185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046009063720703,
                "transform": {
                    "location": {
                        "x": 2928.171875,
                        "y": 4262.052734375,
                        "z": 360.7179260253906
                    },
                    "rotation": {
                        "roll": 5.1064354920526966e-05,
                        "pitch": 0.41785046458244324,
                        "yaw": 9.192148208618164
                    }
                },
                "velocity": {
                    "x": 7.942475318908691,
                    "y": 1.2852718830108643,
                    "z": 0.05851150304079056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.092804908752441,
                "transform": {
                    "location": {
                        "x": 2850.93994140625,
                        "y": 4239.4794921875,
                        "z": 360.1534729003906
                    },
                    "rotation": {
                        "roll": 0.0038841261994093657,
                        "pitch": -0.4502323865890503,
                        "yaw": -171.25526428222656
                    }
                },
                "velocity": {
                    "x": -5.029377460479736,
                    "y": -0.8002793192863464,
                    "z": -0.03969961032271385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.023548126220703,
                "transform": {
                    "location": {
                        "x": 2837.763916015625,
                        "y": 4237.29736328125,
                        "z": 360.05950927734375
                    },
                    "rotation": {
                        "roll": 0.023994769901037216,
                        "pitch": -0.41375917196273804,
                        "yaw": -170.1532745361328
                    }
                },
                "velocity": {
                    "x": -3.9330055713653564,
                    "y": -0.8482242226600647,
                    "z": -0.03033820539712906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.386366367340088,
                "transform": {
                    "location": {
                        "x": 2847.6298828125,
                        "y": 4242.23388671875,
                        "z": 360.13519287109375
                    },
                    "rotation": {
                        "roll": 0.0004523176758084446,
                        "pitch": -0.7406042218208313,
                        "yaw": -170.81179809570312
                    }
                },
                "velocity": {
                    "x": -4.329887390136719,
                    "y": -0.7006470561027527,
                    "z": -0.037138931453228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.342811107635498,
                "transform": {
                    "location": {
                        "x": 2832.73046875,
                        "y": 4241.25537109375,
                        "z": 360.02728271484375
                    },
                    "rotation": {
                        "roll": 0.7326737642288208,
                        "pitch": 0.02092086896300316,
                        "yaw": 171.07809448242188
                    }
                },
                "velocity": {
                    "x": -7.159847259521484,
                    "y": 1.6285163164138794,
                    "z": -0.03739849478006363
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10328273475170135,
        "expert_target_speed": 7.878579861283597,
        "target_point": [
            14.78124019826067,
            0.36379070288944515
        ],
        "target_point_next": [
            14.78124019826067,
            0.36379070288944515
        ]
    },
    "455": {
        "acceleration": [
            3.7804222106933594,
            0.4822230339050293,
            0.02377033233642578
        ],
        "angular_velocity": [
            0.14770758152008057,
            -0.5106130242347717,
            3.4408693313598633
        ],
        "forward_vector": [
            -0.9893876910209656,
            -0.14473164081573486,
            -0.01284194365143776
        ],
        "right_vector": [
            0.14473602175712585,
            -0.9894701242446899,
            0.0005922379205003381
        ],
        "location": [
            2861.46435546875,
            4241.390625,
            360.2359619140625
        ],
        "rotation": [
            -0.033935535699129105,
            -0.7358093857765198,
            -171.6775665283203
        ],
        "velocity": [
            -7.196481704711914,
            -1.0599020719528198,
            -0.05429549515247345
        ],
        "speed": 7.274114470393161,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.794724464416504,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2849.85546875,
                4239.30712890625,
                360.1447448730469
            ],
            "velocity": [
                -4.427623271942139,
                -0.71595299243927,
                -0.033547449856996536
            ],
            "speed_kmh": 16.146937881931567,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2944.112060546875,
                        "y": 4254.64501953125,
                        "z": 360.8296813964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.876953125,
                "transform": {
                    "location": {
                        "x": 2906.364013671875,
                        "y": 4251.73681640625,
                        "z": 360.55084228515625
                    },
                    "rotation": {
                        "roll": 0.0013890728587284684,
                        "pitch": -0.3759199380874634,
                        "yaw": -170.81715393066406
                    }
                },
                "velocity": {
                    "x": -15.67275619506836,
                    "y": -2.5358080863952637,
                    "z": -0.10975077748298645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036223411560059,
                "transform": {
                    "location": {
                        "x": 2878.717529296875,
                        "y": 4254.05224609375,
                        "z": 360.4084167480469
                    },
                    "rotation": {
                        "roll": 3.0026192689547315e-05,
                        "pitch": 0.39373305439949036,
                        "yaw": 9.199722290039062
                    }
                },
                "velocity": {
                    "x": 7.932682514190674,
                    "y": 1.28466796875,
                    "z": 0.055319108068943024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042036056518555,
                "transform": {
                    "location": {
                        "x": 2874.322998046875,
                        "y": 4250.04833984375,
                        "z": 360.3389892578125
                    },
                    "rotation": {
                        "roll": 0.0015465379692614079,
                        "pitch": 0.3973735570907593,
                        "yaw": 9.216445922851562
                    }
                },
                "velocity": {
                    "x": 7.938429355621338,
                    "y": 1.2854970693588257,
                    "z": 0.056359462440013885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 20.323076248168945,
                "transform": {
                    "location": {
                        "x": 2928.887939453125,
                        "y": 4252.20068359375,
                        "z": 360.71533203125
                    },
                    "rotation": {
                        "roll": -0.003906246740370989,
                        "pitch": -0.5542015433311462,
                        "yaw": -170.78598022460938
                    }
                },
                "velocity": {
                    "x": -20.076021194458008,
                    "y": -3.1536691188812256,
                    "z": -0.18747317790985107
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.198627471923828,
                "transform": {
                    "location": {
                        "x": 2867.35302734375,
                        "y": 4245.42626953125,
                        "z": 360.2868957519531
                    },
                    "rotation": {
                        "roll": 0.00012789799075108021,
                        "pitch": -0.32381924986839294,
                        "yaw": -170.81846618652344
                    }
                },
                "velocity": {
                    "x": -9.08041000366211,
                    "y": -1.4685745239257812,
                    "z": -0.06478177011013031
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.987241268157959,
                "transform": {
                    "location": {
                        "x": 2924.62841796875,
                        "y": 4258.1875,
                        "z": 360.6861877441406
                    },
                    "rotation": {
                        "roll": 0.00013899864279665053,
                        "pitch": 0.41384798288345337,
                        "yaw": 9.205193519592285
                    }
                },
                "velocity": {
                    "x": 7.884280204772949,
                    "y": 1.2770845890045166,
                    "z": 0.05663115531206131
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2930.197509765625,
                        "y": 4262.29248046875,
                        "z": 360.73748779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4188545048236847,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.485260486602783,
                "transform": {
                    "location": {
                        "x": 2849.85546875,
                        "y": 4239.30712890625,
                        "z": 360.1447448730469
                    },
                    "rotation": {
                        "roll": 0.0013143063988536596,
                        "pitch": -0.45791634917259216,
                        "yaw": -171.11448669433594
                    }
                },
                "velocity": {
                    "x": -4.427623271942139,
                    "y": -0.71595299243927,
                    "z": -0.033547449856996536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.814890384674072,
                "transform": {
                    "location": {
                        "x": 2836.699951171875,
                        "y": 4237.060546875,
                        "z": 360.05194091796875
                    },
                    "rotation": {
                        "roll": 0.06316600739955902,
                        "pitch": -0.48779159784317017,
                        "yaw": -168.63092041015625
                    }
                },
                "velocity": {
                    "x": -4.6394548416137695,
                    "y": -1.2873438596725464,
                    "z": -0.03704112395644188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.963465213775635,
                "transform": {
                    "location": {
                        "x": 2846.513671875,
                        "y": 4242.05322265625,
                        "z": 360.1268310546875
                    },
                    "rotation": {
                        "roll": -0.00027466073515824974,
                        "pitch": -0.46695268154144287,
                        "yaw": -170.81103515625
                    }
                },
                "velocity": {
                    "x": -4.899672031402588,
                    "y": -0.792315661907196,
                    "z": -0.03790423646569252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.830345153808594,
                "transform": {
                    "location": {
                        "x": 2830.775634765625,
                        "y": 4241.87548828125,
                        "z": 360.0181884765625
                    },
                    "rotation": {
                        "roll": 1.3044252395629883,
                        "pitch": 0.09532894194126129,
                        "yaw": 161.91525268554688
                    }
                },
                "velocity": {
                    "x": -8.164240837097168,
                    "y": 3.364389181137085,
                    "z": -0.032407596707344055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12685830891132355,
        "expert_target_speed": 7.033150982717301,
        "target_point": [
            12.851823420774537,
            0.30313141474692396
        ],
        "target_point_next": [
            12.851823420774537,
            0.30313141474692396
        ]
    },
    "460": {
        "acceleration": [
            8.94810676574707,
            1.2899553775787354,
            0.08050739765167236
        ],
        "angular_velocity": [
            0.363736629486084,
            -2.0901236534118652,
            0.35142791271209717
        ],
        "forward_vector": [
            -0.9890926480293274,
            -0.14640651643276215,
            -0.016151798889040947
        ],
        "right_vector": [
            0.14641912281513214,
            -0.9892225861549377,
            0.0004052804142702371
        ],
        "location": [
            2859.783935546875,
            4241.1416015625,
            360.22412109375
        ],
        "rotation": [
            -0.023223888128995895,
            -0.9254701137542725,
            -171.5801544189453
        ],
        "velocity": [
            -5.791064262390137,
            -0.866178035736084,
            -0.043360188603401184
        ],
        "speed": 5.855483727304161,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.30799388885498,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2848.659423828125,
                4239.11474609375,
                360.1355895996094
            ],
            "velocity": [
                -5.152760028839111,
                -0.8371512293815613,
                -0.03757385164499283
            ],
            "speed_kmh": 18.793644717675164,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2939.498291015625,
                        "y": 4253.9072265625,
                        "z": 360.7957763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 16.52928352355957,
                "transform": {
                    "location": {
                        "x": 2902.362060546875,
                        "y": 4251.08935546875,
                        "z": 360.5227355957031
                    },
                    "rotation": {
                        "roll": -9.15524797164835e-05,
                        "pitch": -0.3728395104408264,
                        "yaw": -170.81117248535156
                    }
                },
                "velocity": {
                    "x": -16.316789627075195,
                    "y": -2.6394925117492676,
                    "z": -0.11269891262054443
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008859634399414,
                "transform": {
                    "location": {
                        "x": 2880.69677734375,
                        "y": 4254.37255859375,
                        "z": 360.4221496582031
                    },
                    "rotation": {
                        "roll": 0.0008981608552858233,
                        "pitch": 0.3919435441493988,
                        "yaw": 9.195799827575684
                    }
                },
                "velocity": {
                    "x": 7.905765056610107,
                    "y": 1.2797163724899292,
                    "z": 0.05508504807949066
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047698020935059,
                "transform": {
                    "location": {
                        "x": 2876.308349609375,
                        "y": 4250.3701171875,
                        "z": 360.3529357910156
                    },
                    "rotation": {
                        "roll": 0.0004899812047369778,
                        "pitch": 0.3992791771888733,
                        "yaw": 9.180511474609375
                    }
                },
                "velocity": {
                    "x": 7.944228172302246,
                    "y": 1.2851401567459106,
                    "z": 0.055670078843832016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.05046844482422,
                "transform": {
                    "location": {
                        "x": 2924.349365234375,
                        "y": 4251.4716796875,
                        "z": 360.6755065917969
                    },
                    "rotation": {
                        "roll": -0.026092529296875,
                        "pitch": -0.5576439499855042,
                        "yaw": -170.47970581054688
                    }
                },
                "velocity": {
                    "x": -17.806987762451172,
                    "y": -2.951291799545288,
                    "z": -0.1430719792842865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.905230522155762,
                "transform": {
                    "location": {
                        "x": 2864.90283203125,
                        "y": 4245.02978515625,
                        "z": 360.26904296875
                    },
                    "rotation": {
                        "roll": -0.0013732904335483909,
                        "pitch": -0.31423649191856384,
                        "yaw": -170.81297302246094
                    }
                },
                "velocity": {
                    "x": -9.777914047241211,
                    "y": -1.5813844203948975,
                    "z": -0.07220841199159622
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0192289352417,
                "transform": {
                    "location": {
                        "x": 2926.603271484375,
                        "y": 4258.50732421875,
                        "z": 360.7006530761719
                    },
                    "rotation": {
                        "roll": -0.0009460428263992071,
                        "pitch": 0.41698986291885376,
                        "yaw": 9.194499969482422
                    }
                },
                "velocity": {
                    "x": 7.91602087020874,
                    "y": 1.281154751777649,
                    "z": 0.057275380939245224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.253662109375,
                        "y": 4262.62060546875,
                        "z": 360.75299072265625
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.220457077026367,
                "transform": {
                    "location": {
                        "x": 2848.659423828125,
                        "y": 4239.11474609375,
                        "z": 360.1355895996094
                    },
                    "rotation": {
                        "roll": 9.8787022579927e-06,
                        "pitch": -0.4281025826931,
                        "yaw": -170.9414520263672
                    }
                },
                "velocity": {
                    "x": -5.152760028839111,
                    "y": -0.8371512293815613,
                    "z": -0.03757385164499283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.284855365753174,
                "transform": {
                    "location": {
                        "x": 2835.463134765625,
                        "y": 4236.69970703125,
                        "z": 360.04144287109375
                    },
                    "rotation": {
                        "roll": 0.10688284784555435,
                        "pitch": -0.515324056148529,
                        "yaw": -165.2718048095703
                    }
                },
                "velocity": {
                    "x": -4.946969032287598,
                    "y": -1.8585240840911865,
                    "z": -0.05551421642303467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.475651741027832,
                "transform": {
                    "location": {
                        "x": 2845.207763671875,
                        "y": 4241.84228515625,
                        "z": 360.1170654296875
                    },
                    "rotation": {
                        "roll": -0.0008850101148709655,
                        "pitch": -0.38919100165367126,
                        "yaw": -170.80581665039062
                    }
                },
                "velocity": {
                    "x": -5.405311584472656,
                    "y": -0.8738569617271423,
                    "z": -0.04170628637075424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.333351135253906,
                "transform": {
                    "location": {
                        "x": 2828.76806640625,
                        "y": 4242.99853515625,
                        "z": 360.015380859375
                    },
                    "rotation": {
                        "roll": 1.648490309715271,
                        "pitch": 0.1471973955631256,
                        "yaw": 148.70419311523438
                    }
                },
                "velocity": {
                    "x": -7.672269344329834,
                    "y": 5.314852237701416,
                    "z": 0.00819469429552555
                },
                "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": 0.15891596674919128,
        "expert_target_speed": 6.023835424688495,
        "target_point": [
            11.153549051671241,
            0.2809950428992525
        ],
        "target_point_next": [
            11.153549051671241,
            0.2809950428992525
        ]
    },
    "465": {
        "acceleration": [
            25.683584213256836,
            3.842031478881836,
            0.18817710876464844
        ],
        "angular_velocity": [
            0.8068262338638306,
            -6.036017894744873,
            0.7567715644836426
        ],
        "forward_vector": [
            -0.9877203106880188,
            -0.15261417627334595,
            -0.03342971205711365
        ],
        "right_vector": [
            0.1526975929737091,
            -0.9882729649543762,
            5.802418672828935e-05
        ],
        "location": [
            2858.831787109375,
            4241.001953125,
            360.2203369140625
        ],
        "rotation": [
            -0.0033264001831412315,
            -1.9157382249832153,
            -171.2165985107422
        ],
        "velocity": [
            -0.9835798144340515,
            -0.13673049211502075,
            -0.009591655805706978
        ],
        "speed": 0.9930380047289927,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.69221019744873,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2847.33056640625,
                4238.8994140625,
                360.1252746582031
            ],
            "velocity": [
                -5.622539520263672,
                -0.9130551815032959,
                -0.04434019327163696
            ],
            "speed_kmh": 20.506917874337077,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2935.046875,
                        "y": 4253.1875,
                        "z": 360.7626037597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 16.67664909362793,
                "transform": {
                    "location": {
                        "x": 2898.225341796875,
                        "y": 4250.42041015625,
                        "z": 360.494140625
                    },
                    "rotation": {
                        "roll": 1.1289405847492162e-05,
                        "pitch": -0.3818075656890869,
                        "yaw": -170.81016540527344
                    }
                },
                "velocity": {
                    "x": -16.462238311767578,
                    "y": -2.663127899169922,
                    "z": -0.11457120627164841
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044586181640625,
                "transform": {
                    "location": {
                        "x": 2882.678466796875,
                        "y": 4254.69384765625,
                        "z": 360.4358215332031
                    },
                    "rotation": {
                        "roll": 0.00011559897393453866,
                        "pitch": 0.39182060956954956,
                        "yaw": 9.19119930267334
                    }
                },
                "velocity": {
                    "x": 7.941140174865723,
                    "y": 1.2848502397537231,
                    "z": 0.053100842982530594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045905113220215,
                "transform": {
                    "location": {
                        "x": 2878.2939453125,
                        "y": 4250.69140625,
                        "z": 360.36676025390625
                    },
                    "rotation": {
                        "roll": 4.635502409655601e-05,
                        "pitch": 0.39832979440689087,
                        "yaw": 9.207067489624023
                    }
                },
                "velocity": {
                    "x": 7.942477226257324,
                    "y": 1.2846975326538086,
                    "z": 0.05662762373685837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 18.01719093322754,
                "transform": {
                    "location": {
                        "x": 2919.90283203125,
                        "y": 4250.724609375,
                        "z": 360.6408386230469
                    },
                    "rotation": {
                        "roll": -0.017608642578125,
                        "pitch": -0.4429650604724884,
                        "yaw": -170.31497192382812
                    }
                },
                "velocity": {
                    "x": -17.763652801513672,
                    "y": -3.0091054439544678,
                    "z": -0.1306694597005844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.404162406921387,
                "transform": {
                    "location": {
                        "x": 2862.619384765625,
                        "y": 4244.66064453125,
                        "z": 360.2519836425781
                    },
                    "rotation": {
                        "roll": -0.0007629441097378731,
                        "pitch": -0.6385201811790466,
                        "yaw": -170.8076629638672
                    }
                },
                "velocity": {
                    "x": -8.296037673950195,
                    "y": -1.3423529863357544,
                    "z": -0.06158437207341194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2928.632080078125,
                        "y": 4258.798828125,
                        "z": 360.71820068359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4188545048236847,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26580,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2934.310302734375,
                        "y": 4262.94775390625,
                        "z": 360.76861572265625
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.696365833282471,
                "transform": {
                    "location": {
                        "x": 2847.33056640625,
                        "y": 4238.8994140625,
                        "z": 360.1252746582031
                    },
                    "rotation": {
                        "roll": 0.0001244943414349109,
                        "pitch": -0.4278225302696228,
                        "yaw": -170.8341827392578
                    }
                },
                "velocity": {
                    "x": -5.622539520263672,
                    "y": -0.9130551815032959,
                    "z": -0.04434019327163696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.627834796905518,
                "transform": {
                    "location": {
                        "x": 2834.19677734375,
                        "y": 4236.1640625,
                        "z": 360.0299377441406
                    },
                    "rotation": {
                        "roll": 0.1783093959093094,
                        "pitch": -0.5261226296424866,
                        "yaw": -159.4593963623047
                    }
                },
                "velocity": {
                    "x": -4.8969550132751465,
                    "y": -2.7731926441192627,
                    "z": -0.04192949831485748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.339515686035156,
                "transform": {
                    "location": {
                        "x": 2843.7666015625,
                        "y": 4241.60888671875,
                        "z": 360.1059265136719
                    },
                    "rotation": {
                        "roll": -0.00027465535094961524,
                        "pitch": -0.29809674620628357,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -6.257875442504883,
                    "y": -1.0129581689834595,
                    "z": -0.04865699261426926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.798482894897461,
                "transform": {
                    "location": {
                        "x": 2826.889892578125,
                        "y": 4244.69873046875,
                        "z": 360.0217590332031
                    },
                    "rotation": {
                        "roll": 1.9167025089263916,
                        "pitch": 0.5557724833488464,
                        "yaw": 134.60684204101562
                    }
                },
                "velocity": {
                    "x": -7.198311805725098,
                    "y": 8.049097061157227,
                    "z": 0.05973946303129196
                },
                "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": 0.15619713068008423,
        "expert_target_speed": 1.7825432840289448,
        "target_point": [
            10.192800975008415,
            0.21759952036372976
        ],
        "target_point_next": [
            10.192800975008415,
            0.21759952036372976
        ]
    },
    "470": {
        "acceleration": [
            0.5188274383544922,
            0.07274121046066284,
            0.020874980837106705
        ],
        "angular_velocity": [
            -0.4800269603729248,
            3.289328098297119,
            -0.8416853547096252
        ],
        "forward_vector": [
            -0.9881690740585327,
            -0.1519743949174881,
            -0.020629968494176865
        ],
        "right_vector": [
            0.15199846029281616,
            -0.9883806705474854,
            0.0004052467120345682
        ],
        "location": [
            2858.4912109375,
            4240.94921875,
            360.2149963378906
        ],
        "rotation": [
            -0.023223869502544403,
            -1.1820939779281616,
            -171.2567596435547
        ],
        "velocity": [
            -1.441906213760376,
            -0.22450894117355347,
            -0.009516028687357903
        ],
        "speed": 1.4592798888313554,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.847747802734375,
        "front_vehicle_info": {
            "id": 26423,
            "type": "vehicle.ford.mustang",
            "location": [
                2845.849609375,
                4238.6591796875,
                360.1137390136719
            ],
            "velocity": [
                -5.684938907623291,
                -0.9221981763839722,
                -0.04408162459731102
            ],
            "speed_kmh": 20.733913347998868,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 26571,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2930.88525390625,
                        "y": 4252.51416015625,
                        "z": 360.7317199707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.41485199332237244,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26570,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 15.410017013549805,
                "transform": {
                    "location": {
                        "x": 2894.26513671875,
                        "y": 4249.77978515625,
                        "z": 360.4671325683594
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.4243459701538086,
                        "yaw": -170.8098602294922
                    }
                },
                "velocity": {
                    "x": -15.211949348449707,
                    "y": -2.4605162143707275,
                    "z": -0.10531549900770187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26582,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00295352935791,
                "transform": {
                    "location": {
                        "x": 2884.658447265625,
                        "y": 4255.013671875,
                        "z": 360.44940185546875
                    },
                    "rotation": {
                        "roll": -0.0007629378233104944,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.187265396118164
                    }
                },
                "velocity": {
                    "x": 7.900120258331299,
                    "y": 1.2777152061462402,
                    "z": 0.053039178252220154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 26583,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045634269714355,
                "transform": {
                    "location": {
                        "x": 2880.279541015625,
                        "y": 4251.01220703125,
                        "z": 360.3805236816406
                    },
                    "rotation": {
                        "roll": 0.0018238535849377513,
                        "pitch": 0.3935486376285553,
                        "yaw": 9.175651550292969
                    }
                },
                "velocity": {
                    "x": 7.94235372543335,
                    "y": 1.283801555633545,
                    "z": 0.055634718388319016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26565,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.961236000061035,
                "transform": {
                    "location": {
                        "x": 2915.83203125,
                        "y": 4250.033203125,
                        "z": 360.6120910644531
                    },
                    "rotation": {
                        "roll": -0.008911130018532276,
                        "pitch": -0.5618308186531067,
                        "yaw": -170.30856323242188
                    }
                },
                "velocity": {
                    "x": -14.749540328979492,
                    "y": -2.50571870803833,
                    "z": -0.10505601763725281
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 26564,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.695281505584717,
                "transform": {
                    "location": {
                        "x": 2860.6796875,
                        "y": 4244.3466796875,
                        "z": 360.2375183105469
                    },
                    "rotation": {
                        "roll": -0.00021362169354688376,
                        "pitch": -0.5956743955612183,
                        "yaw": -170.8064727783203
                    }
                },
                "velocity": {
                    "x": -7.596235275268555,
                    "y": -1.2293537855148315,
                    "z": -0.05705447494983673
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 26581,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2930.69677734375,
                        "y": 4259.072265625,
                        "z": 360.7377624511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4188545048236847,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 26423,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.759420394897461,
                "transform": {
                    "location": {
                        "x": 2845.849609375,
                        "y": 4238.6591796875,
                        "z": 360.1137390136719
                    },
                    "rotation": {
                        "roll": 0.0010571856983006,
                        "pitch": -0.43551331758499146,
                        "yaw": -170.8328399658203
                    }
                },
                "velocity": {
                    "x": -5.684938907623291,
                    "y": -0.9221981763839722,
                    "z": -0.04408162459731102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 26422,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.397758960723877,
                "transform": {
                    "location": {
                        "x": 2832.830810546875,
                        "y": 4235.25439453125,
                        "z": 360.01556396484375
                    },
                    "rotation": {
                        "roll": 0.4608111083507538,
                        "pitch": -0.6944594383239746,
                        "yaw": -148.73098754882812
                    }
                },
                "velocity": {
                    "x": -5.4194746017456055,
                    "y": -5.035030841827393,
                    "z": -0.06778757274150848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 26421,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.402817726135254,
                "transform": {
                    "location": {
                        "x": 2842.40087890625,
                        "y": 4241.38720703125,
                        "z": 360.094482421875
                    },
                    "rotation": {
                        "roll": -0.0015564016066491604,
                        "pitch": -0.7472158074378967,
                        "yaw": -170.8071746826172
                    }
                },
                "velocity": {
                    "x": -3.358968734741211,
                    "y": -0.5437360405921936,
                    "z": -0.02915290743112564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 26420,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.739667892456055,
                "transform": {
                    "location": {
                        "x": 2825.247802734375,
                        "y": 4246.9951171875,
                        "z": 360.04193115234375
                    },
                    "rotation": {
                        "roll": 2.0099451541900635,
                        "pitch": 0.6982228755950928,
                        "yaw": 121.34708404541016
                    }
                },
                "velocity": {
                    "x": -5.810603618621826,
                    "y": 10.200362205505371,
                    "z": 0.09638457745313644
                },
                "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": 0.15986239910125732,
        "expert_target_speed": 2.341541711756827,
        "target_point": [
            9.848011472192008,
            0.22439245238217453
        ],
        "target_point_next": [
            9.848011472192008,
            0.22439245238217453
        ]
    }
}