{
    "0": {
        "acceleration": [
            -0.0029366009403020144,
            0.006234955508261919,
            -0.6187146902084351
        ],
        "angular_velocity": [
            0.019653374329209328,
            -0.022218827158212662,
            4.0547718526795506e-05
        ],
        "forward_vector": [
            -0.9999594688415527,
            0.006665686145424843,
            0.006045542657375336
        ],
        "right_vector": [
            -0.006665302440524101,
            -0.9999777674674988,
            8.362171502085403e-05
        ],
        "location": [
            733.07958984375,
            4286.78369140625,
            369.4612121582031
        ],
        "rotation": [
            -0.004791258834302425,
            0.346386194229126,
            179.61807250976562
        ],
        "velocity": [
            0.0007753425743430853,
            -0.0001567476720083505,
            0.14286646246910095
        ],
        "speed": 0.0007910284067396063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.45299842953681946,
                "transform": {
                    "location": {
                        "x": 642.491943359375,
                        "y": 4286.18115234375,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.23165887594223022,
                        "pitch": 0.43796536326408386,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": 0.004485404584556818,
                    "y": 0.012166882865130901,
                    "z": 0.4528127908706665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002914662705734372,
        "expert_target_speed": 10.0,
        "target_point": [
            51.54336635730816,
            0.03888316402752756
        ],
        "target_point_next": [
            102.5433292621658,
            0.07707386547628481
        ]
    },
    "5": {
        "acceleration": [
            -0.0028493269346654415,
            0.003108454402536154,
            -0.25478804111480713
        ],
        "angular_velocity": [
            -0.0046354029327631,
            -0.02994775027036667,
            0.00011265312059549615
        ],
        "forward_vector": [
            -0.9999598860740662,
            0.006665688939392567,
            0.005982839968055487
        ],
        "right_vector": [
            -0.006665680557489395,
            -0.9999777674674988,
            2.1304904294083826e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48199462890625
        ],
        "rotation": [
            -0.0012207028921693563,
            0.3427935242652893,
            179.61807250976562
        ],
        "velocity": [
            0.00016362428141292185,
            5.20588037034031e-05,
            0.042552631348371506
        ],
        "speed": 0.00017170621570264863,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.29515838623047,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                653.4404296875,
                4297.00537109375,
                370.13299560546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4404296875,
                        "y": 4297.00537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4212036132812,
                        "y": 4293.75537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045189261436462,
                "transform": {
                    "location": {
                        "x": 762.8302001953125,
                        "y": 4285.6904296875,
                        "z": 369.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0007324216421693563,
                        "pitch": 0.383897602558136,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.003318601753562689,
                    "y": 0.00029535844805650413,
                    "z": -0.5045079588890076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6357187032699585,
                "transform": {
                    "location": {
                        "x": 747.9967651367188,
                        "y": 4286.4599609375,
                        "z": 369.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0007713203667663038,
                        "pitch": 0.33871588110923767,
                        "yaw": 177.8912353515625
                    }
                },
                "velocity": {
                    "x": -0.0036576269194483757,
                    "y": 6.46749249426648e-05,
                    "z": -0.6357081532478333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43485963344573975,
                "transform": {
                    "location": {
                        "x": 718.1520385742188,
                        "y": 4286.8720703125,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -0.002469983883202076,
                    "y": -0.00010898907203227282,
                    "z": -0.43485260009765625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23282060027122498,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.7037658691406
                    },
                    "rotation": {
                        "roll": 0.001393489888869226,
                        "pitch": 0.33289656043052673,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.0013229140313342214,
                    "y": 3.070899401791394e-05,
                    "z": -0.23281683027744293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45631492137908936,
                "transform": {
                    "location": {
                        "x": 763.0471801757812,
                        "y": 4288.93310546875,
                        "z": 369.3104248046875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3814045786857605,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.00308401882648468,
                    "y": 0.00024381028197240084,
                    "z": -0.4563044309616089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45543402433395386,
                "transform": {
                    "location": {
                        "x": 748.1165161132812,
                        "y": 4289.70751953125,
                        "z": 369.40191650390625
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.33302634954452515,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": -0.0026521566323935986,
                    "y": 0.00014246904174797237,
                    "z": -0.45542627573013306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2321363240480423,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.61663818359375
                    },
                    "rotation": {
                        "roll": 0.0024136954452842474,
                        "pitch": 0.33435139060020447,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -0.0013205118011683226,
                    "y": 0.0002017271617660299,
                    "z": -0.23213247954845428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5145211815834045,
                "transform": {
                    "location": {
                        "x": 703.1715698242188,
                        "y": 4290.2109375,
                        "z": 369.6522521972656
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.3321520686149597,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -0.002972028451040387,
                    "y": 0.00014319577894639224,
                    "z": -0.5145125985145569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3239947259426117,
                "transform": {
                    "location": {
                        "x": 642.4929809570312,
                        "y": 4286.181640625,
                        "z": 370.003662109375
                    },
                    "rotation": {
                        "roll": -0.0943298190832138,
                        "pitch": 0.384498655796051,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00032208068296313286,
                    "y": -0.009597599506378174,
                    "z": 0.32385239005088806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009491736418567598,
        "expert_target_speed": 1.038245329439956,
        "target_point": [
            51.54342740964375,
            0.03885899304478729
        ],
        "target_point_next": [
            102.54339033270632,
            0.0770253758161602
        ]
    },
    "10": {
        "acceleration": [
            -9.556039003655314e-05,
            0.0007934122113510966,
            -0.07626805454492569
        ],
        "angular_velocity": [
            -0.015281892381608486,
            -0.003534530056640506,
            0.00015067707863636315
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.005968296434730291
        ],
        "right_vector": [
            -0.0066648744978010654,
            -0.9999777674674988,
            -3.3195244668604573e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4877014160156
        ],
        "rotation": [
            0.00019019813043996692,
            0.34196022152900696,
            179.61813354492188
        ],
        "velocity": [
            6.277263310039416e-05,
            0.00010084768291562796,
            0.010629185475409031
        ],
        "speed": 0.00011878829326077439,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.23189544677734,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                655.5183715820312,
                4296.9931640625,
                369.9817810058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.5183715820312,
                        "y": 4296.9931640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.4991455078125,
                        "y": 4293.7431640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025436520576477,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.2929992675781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": 0.3847103714942932,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": 0.000690049899276346,
                    "y": -9.282471728511155e-05,
                    "z": 0.10254128277301788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061174292117357254,
                "transform": {
                    "location": {
                        "x": 747.9963989257812,
                        "y": 4286.4599609375,
                        "z": 369.3731689453125
                    },
                    "rotation": {
                        "roll": 0.000871284632012248,
                        "pitch": 0.34060102701187134,
                        "yaw": 177.89122009277344
                    }
                },
                "velocity": {
                    "x": 0.00037549142143689096,
                    "y": -8.296708074340131e-06,
                    "z": 0.06117313727736473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0274041835218668,
                "transform": {
                    "location": {
                        "x": 718.15185546875,
                        "y": 4286.8720703125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.33960381150245667,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0001842377969296649,
                    "y": -0.00012511353997979313,
                    "z": 0.027403278276324272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02493421360850334,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.6972961425781
                    },
                    "rotation": {
                        "roll": 0.001135597936809063,
                        "pitch": 0.3331014811992645,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.000176285466295667,
                    "y": -4.4604203139897436e-05,
                    "z": 0.024933550506830215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09441056847572327,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.30328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3812406361103058,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0006493785767816007,
                    "y": -0.00010532941087149084,
                    "z": 0.09440827369689941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09427197277545929,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.3948059082031
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3332790732383728,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": 0.0005661581526510417,
                    "y": -8.152468217303976e-05,
                    "z": 0.0942702367901802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024769581854343414,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.610107421875
                    },
                    "rotation": {
                        "roll": 0.0018934343243017793,
                        "pitch": 0.3349592983722687,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0001544644619571045,
                    "y": 0.00035380563349463046,
                    "z": 0.024766573682427406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1063017025589943,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.6437683105469
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": 0.33179691433906555,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0006267820717766881,
                    "y": -0.00017751703853718936,
                    "z": 0.10629970580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.057063329964876175,
                "transform": {
                    "location": {
                        "x": 642.4939575195312,
                        "y": 4286.181640625,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.018715541809797287,
                        "pitch": 0.2854540944099426,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -0.0005597444251179695,
                    "y": -0.0009280548547394574,
                    "z": -0.057053036987781525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018002139404416084,
        "expert_target_speed": 1.0060717612229189,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "15": {
        "acceleration": [
            -0.0009125142823904753,
            4.078610800206661e-06,
            0.011724883690476418
        ],
        "angular_velocity": [
            -0.013347105123102665,
            -0.009259921498596668,
            0.00016153964679688215
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.005966746713966131
        ],
        "right_vector": [
            -0.0066648321226239204,
            -0.9999777674674988,
            3.728356887222617e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48883056640625
        ],
        "rotation": [
            -0.00021362291590776294,
            0.341871440410614,
            179.61813354492188
        ],
        "velocity": [
            -6.388052952388534e-06,
            4.5128621422918513e-05,
            0.002084286417812109
        ],
        "speed": 4.5578500326970165e-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": 76.16633605957031,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                657.6002807617188,
                4296.98046875,
                369.9375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.6002807617188,
                        "y": 4296.98046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.5810546875,
                        "y": 4293.73046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023524481803178787,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.3082580566406
                    },
                    "rotation": {
                        "roll": 7.595754595968174e-06,
                        "pitch": 0.3843074142932892,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0001689358032308519,
                    "y": 2.7320020308252424e-05,
                    "z": 0.023523859679698944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1389744132757187,
                "transform": {
                    "location": {
                        "x": 747.9893798828125,
                        "y": 4286.4599609375,
                        "z": 369.4047546386719
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.3541930913925171,
                        "yaw": 177.89453125
                    }
                },
                "velocity": {
                    "x": -0.08124236017465591,
                    "y": 0.0009029434877447784,
                    "z": 0.1127508357167244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8802815675735474,
                "transform": {
                    "location": {
                        "x": 718.0856323242188,
                        "y": 4286.87158203125,
                        "z": 369.571044921875
                    },
                    "rotation": {
                        "roll": -0.00921630673110485,
                        "pitch": 0.5455613136291504,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -0.87979656457901,
                    "y": -0.005085095763206482,
                    "z": 0.02877085655927658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9055242538452148,
                "transform": {
                    "location": {
                        "x": 703.0865478515625,
                        "y": 4286.96044921875,
                        "z": 369.70068359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.4072636663913727,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -0.9053999781608582,
                    "y": -0.007333825808018446,
                    "z": 0.013086671940982342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020953742787241936,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.3172302246094
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.38114503026008606,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.00015021853323560208,
                    "y": -0.0001034343586070463,
                    "z": 0.020952949300408363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020843490958213806,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.3332858979701996,
                        "yaw": 177.8913116455078
                    }
                },
                "velocity": {
                    "x": 0.00014303937496151775,
                    "y": 6.13619340583682e-05,
                    "z": 0.020842909812927246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9213072061538696,
                "transform": {
                    "location": {
                        "x": 718.1052856445312,
                        "y": 4290.12158203125,
                        "z": 369.6134948730469
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.40968838334083557,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -0.9211761951446533,
                    "y": -0.007747138384729624,
                    "z": 0.013466023840010166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02309280075132847,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.33230918645858765,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 0.00014444772386923432,
                    "y": -3.2976691727526486e-05,
                    "z": 0.023092325776815414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05881591513752937,
                "transform": {
                    "location": {
                        "x": 642.493896484375,
                        "y": 4286.181640625,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.006253334693610668,
                        "pitch": 0.29145780205726624,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -0.0001237491815118119,
                    "y": 0.0006633757147938013,
                    "z": -0.05881204456090927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018786489963531494,
        "expert_target_speed": 1.0027091801196506,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "20": {
        "acceleration": [
            -0.0004312828241381794,
            0.0007465314120054245,
            -0.00034305965527892113
        ],
        "angular_velocity": [
            0.007387162651866674,
            -0.0009530627285130322,
            3.868145358865149e-05
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.0066637820564210415,
            0.005966269876807928
        ],
        "right_vector": [
            -0.006663925014436245,
            -0.9999777674674988,
            -4.03547301175422e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4891662597656
        ],
        "rotation": [
            0.00023121970298234373,
            0.3418441116809845,
            179.61817932128906
        ],
        "velocity": [
            1.876387614174746e-05,
            -1.3187308468332049e-05,
            0.0017485636053606868
        ],
        "speed": 2.2934431593169726e-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": 74.10096740722656,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                659.6831665039062,
                4296.96826171875,
                369.9178466796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6831665039062,
                        "y": 4296.96826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6638793945312,
                        "y": 4293.71826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9624414443969727,
                "transform": {
                    "location": {
                        "x": 762.6216430664062,
                        "y": 4285.701171875,
                        "z": 369.31097412109375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.4233282804489136,
                        "yaw": 176.26351928710938
                    }
                },
                "velocity": {
                    "x": -1.9601579904556274,
                    "y": 0.09399950504302979,
                    "z": 0.01101123820990324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7023549675941467,
                "transform": {
                    "location": {
                        "x": 747.8656616210938,
                        "y": 4286.46240234375,
                        "z": 369.416015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.4783249497413635,
                        "yaw": 177.92434692382812
                    }
                },
                "velocity": {
                    "x": -0.7022427320480347,
                    "y": 0.012511569075286388,
                    "z": 0.0010335540864616632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8672748804092407,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.8701171875,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.014770508743822575,
                        "pitch": 0.7257280349731445,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -1.8671436309814453,
                    "y": -0.011976280249655247,
                    "z": 0.018614167347550392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8437989950180054,
                "transform": {
                    "location": {
                        "x": 702.7273559570312,
                        "y": 4286.958984375,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": 0.4365173578262329,
                        "yaw": 179.8267822265625
                    }
                },
                "velocity": {
                    "x": -1.8436987400054932,
                    "y": -0.015339852310717106,
                    "z": 0.011584796942770481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1327996253967285,
                "transform": {
                    "location": {
                        "x": 762.8187255859375,
                        "y": 4288.9443359375,
                        "z": 369.3216857910156
                    },
                    "rotation": {
                        "roll": 0.009196165949106216,
                        "pitch": 0.19323286414146423,
                        "yaw": 176.25099182128906
                    }
                },
                "velocity": {
                    "x": -2.1304445266723633,
                    "y": 0.09921599179506302,
                    "z": 0.013990955427289009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1806137561798096,
                "transform": {
                    "location": {
                        "x": 747.890625,
                        "y": 4289.712890625,
                        "z": 369.4130859375
                    },
                    "rotation": {
                        "roll": 0.009538781829178333,
                        "pitch": 0.14528495073318481,
                        "yaw": 178.08070373535156
                    }
                },
                "velocity": {
                    "x": -2.1803085803985596,
                    "y": 0.03475413843989372,
                    "z": 0.011095733381807804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.872437596321106,
                "transform": {
                    "location": {
                        "x": 717.7435913085938,
                        "y": 4290.1201171875,
                        "z": 369.6162109375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.43943384289741516,
                        "yaw": 179.81565856933594
                    }
                },
                "velocity": {
                    "x": -1.8723291158676147,
                    "y": -0.016089793294668198,
                    "z": 0.012134618125855923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1024563312530518,
                "transform": {
                    "location": {
                        "x": 703.0511474609375,
                        "y": 4290.21044921875,
                        "z": 369.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0027465815655887127,
                        "pitch": 0.36385098099708557,
                        "yaw": 179.70703125
                    }
                },
                "velocity": {
                    "x": -1.1024144887924194,
                    "y": -0.00721356738358736,
                    "z": 0.006342162843793631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006155104376375675,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0027160644531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.3038546144962311,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.35122851235792e-05,
                    "y": -2.5314999220427126e-05,
                    "z": 0.006154724396765232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001955276820808649,
        "expert_target_speed": 1.018013879889752,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "25": {
        "acceleration": [
            -2.77341365814209,
            0.00957610085606575,
            0.0005554221570491791
        ],
        "angular_velocity": [
            -0.053436029702425,
            0.29792386293411255,
            0.4637462794780731
        ],
        "forward_vector": [
            -0.9999198913574219,
            0.0069093164056539536,
            0.010601917281746864
        ],
        "right_vector": [
            -0.006909916643053293,
            -0.9999760985374451,
            -1.999381129280664e-05
        ],
        "location": [
            732.9080810546875,
            4286.78515625,
            369.4894714355469
        ],
        "rotation": [
            0.001145625370554626,
            0.6074565052986145,
            179.60409545898438
        ],
        "velocity": [
            -1.0691249370574951,
            0.0076583209447562695,
            0.00612126337364316
        ],
        "speed": 1.069152365623294,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.86663818359375,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                661.7659912109375,
                4296.9560546875,
                369.90142822265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7659912109375,
                        "y": 4296.9560546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7467651367188,
                        "y": 4293.7060546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.954958200454712,
                "transform": {
                    "location": {
                        "x": 761.99169921875,
                        "y": 4285.73388671875,
                        "z": 369.3148498535156
                    },
                    "rotation": {
                        "roll": 0.000642845465335995,
                        "pitch": 0.410419225692749,
                        "yaw": 176.56158447265625
                    }
                },
                "velocity": {
                    "x": -2.951572895050049,
                    "y": 0.14024300873279572,
                    "z": 0.018084602430462837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6119256019592285,
                "transform": {
                    "location": {
                        "x": 747.5776977539062,
                        "y": 4286.4697265625,
                        "z": 369.41259765625
                    },
                    "rotation": {
                        "roll": -0.009582518599927425,
                        "pitch": 0.5344759225845337,
                        "yaw": 178.0966796875
                    }
                },
                "velocity": {
                    "x": -1.611609935760498,
                    "y": 0.030400477349758148,
                    "z": -0.009663152508437634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9849061965942383,
                "transform": {
                    "location": {
                        "x": 717.1282348632812,
                        "y": 4286.86669921875,
                        "z": 369.5803527832031
                    },
                    "rotation": {
                        "roll": -0.014343264512717724,
                        "pitch": 0.7958126068115234,
                        "yaw": 179.9939422607422
                    }
                },
                "velocity": {
                    "x": -2.984772205352783,
                    "y": -0.021640010178089142,
                    "z": 0.01820565201342106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9991533756256104,
                "transform": {
                    "location": {
                        "x": 702.122314453125,
                        "y": 4286.95556640625,
                        "z": 369.7068176269531
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.45056024193763733,
                        "yaw": -179.98480224609375
                    }
                },
                "velocity": {
                    "x": -2.9989874362945557,
                    "y": -0.02612335793673992,
                    "z": 0.017652425915002823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3427064418792725,
                "transform": {
                    "location": {
                        "x": 762.1182861328125,
                        "y": 4288.97900390625,
                        "z": 369.32562255859375
                    },
                    "rotation": {
                        "roll": 0.007742029149085283,
                        "pitch": 0.23228788375854492,
                        "yaw": 176.57057189941406
                    }
                },
                "velocity": {
                    "x": -3.3390941619873047,
                    "y": 0.15403757989406586,
                    "z": 0.020218972116708755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3360886573791504,
                "transform": {
                    "location": {
                        "x": 747.1873779296875,
                        "y": 4289.7265625,
                        "z": 369.41650390625
                    },
                    "rotation": {
                        "roll": 0.006681015249341726,
                        "pitch": 0.18753649294376373,
                        "yaw": 178.37228393554688
                    }
                },
                "velocity": {
                    "x": -3.3356075286865234,
                    "y": 0.053618915379047394,
                    "z": 0.018295086920261383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9810941219329834,
                "transform": {
                    "location": {
                        "x": 717.1384887695312,
                        "y": 4290.11669921875,
                        "z": 369.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.4510451853275299,
                        "yaw": 179.99435424804688
                    }
                },
                "velocity": {
                    "x": -2.9809346199035645,
                    "y": -0.02512659691274166,
                    "z": 0.017862863838672638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7386195659637451,
                "transform": {
                    "location": {
                        "x": 702.6842041015625,
                        "y": 4290.208984375,
                        "z": 369.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.35850977897644043,
                        "yaw": 179.81295776367188
                    }
                },
                "velocity": {
                    "x": -1.7385467290878296,
                    "y": -0.013371847569942474,
                    "z": 0.008636074140667915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002788277342915535,
        "expert_target_speed": 2.0806621952395337,
        "target_point": [
            51.3718405364921,
            0.05172221713808084
        ],
        "target_point_next": [
            102.37179262167291,
            0.10233976147132906
        ]
    },
    "30": {
        "acceleration": [
            -2.5645875930786133,
            0.023089926689863205,
            0.03192748874425888
        ],
        "angular_velocity": [
            -0.013820226304233074,
            0.004828714299947023,
            -0.9172016382217407
        ],
        "forward_vector": [
            -0.9999132752418518,
            0.007533667143434286,
            0.010800152085721493
        ],
        "right_vector": [
            -0.007534555625170469,
            -0.9999716281890869,
            -4.157860530540347e-05
        ],
        "location": [
            732.5631103515625,
            4286.78759765625,
            369.4913635253906
        ],
        "rotation": [
            0.0023824176751077175,
            0.6188151240348816,
            179.56832885742188
        ],
        "velocity": [
            -1.668630838394165,
            0.013703807257115841,
            0.009757785126566887
        ],
        "speed": 1.6686871094286533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.47433471679688,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                663.8363647460938,
                4296.9443359375,
                369.8891296386719
            ],
            "velocity": [
                8.063847541809082,
                -0.019548553973436356,
                -0.061810202896595
            ],
            "speed_kmh": 29.03078924397194,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064107894897461,
                "transform": {
                    "location": {
                        "x": 663.8363647460938,
                        "y": 4296.9443359375,
                        "z": 369.8891296386719
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": -0.3168661296367645,
                        "yaw": -0.3108519911766052
                    }
                },
                "velocity": {
                    "x": 8.063847541809082,
                    "y": -0.019548553973436356,
                    "z": -0.061810202896595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.041495323181152,
                "transform": {
                    "location": {
                        "x": 663.8197631835938,
                        "y": 4293.69482421875,
                        "z": 369.8901062011719
                    },
                    "rotation": {
                        "roll": -0.013000487349927425,
                        "pitch": -0.3382855951786041,
                        "yaw": -0.30633544921875
                    }
                },
                "velocity": {
                    "x": 8.04139232635498,
                    "y": -0.013542907312512398,
                    "z": -0.038271788507699966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7215301990509033,
                "transform": {
                    "location": {
                        "x": 761.1531982421875,
                        "y": 4285.77587890625,
                        "z": 369.3203430175781
                    },
                    "rotation": {
                        "roll": 0.0018736777128651738,
                        "pitch": 0.39598703384399414,
                        "yaw": 176.84603881835938
                    }
                },
                "velocity": {
                    "x": -3.7173964977264404,
                    "y": 0.17370493710041046,
                    "z": 0.024015702307224274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.12589955329895,
                "transform": {
                    "location": {
                        "x": 747.0094604492188,
                        "y": 4286.48193359375,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -0.013244626112282276,
                        "pitch": 0.6452479362487793,
                        "yaw": 178.36044311523438
                    }
                },
                "velocity": {
                    "x": -3.1253464221954346,
                    "y": 0.055956415832042694,
                    "z": 0.01808849349617958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.384318828582764,
                "transform": {
                    "location": {
                        "x": 716.195068359375,
                        "y": 4286.8603515625,
                        "z": 369.5854187011719
                    },
                    "rotation": {
                        "roll": -0.013763426803052425,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.8003692626953
                    }
                },
                "velocity": {
                    "x": -4.384103775024414,
                    "y": -0.03520318120718002,
                    "z": 0.025385074317455292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374879837036133,
                "transform": {
                    "location": {
                        "x": 701.1904296875,
                        "y": 4286.94921875,
                        "z": 369.71197509765625
                    },
                    "rotation": {
                        "roll": 0.0004474956658668816,
                        "pitch": 0.4760231673717499,
                        "yaw": -179.7861785888672
                    }
                },
                "velocity": {
                    "x": -4.374629974365234,
                    "y": -0.039465732872486115,
                    "z": 0.024999350309371948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.465246200561523,
                "transform": {
                    "location": {
                        "x": 761.137939453125,
                        "y": 4289.02685546875,
                        "z": 369.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006022654939442873,
                        "pitch": 0.25584521889686584,
                        "yaw": 176.87184143066406
                    }
                },
                "velocity": {
                    "x": -4.460405349731445,
                    "y": 0.20574620366096497,
                    "z": 0.029574546962976456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.471312999725342,
                "transform": {
                    "location": {
                        "x": 746.2045288085938,
                        "y": 4289.7451171875,
                        "z": 369.4219055175781
                    },
                    "rotation": {
                        "roll": 0.006520191207528114,
                        "pitch": 0.2156495451927185,
                        "yaw": 178.64529418945312
                    }
                },
                "velocity": {
                    "x": -4.470666885375977,
                    "y": 0.07140378654003143,
                    "z": 0.026057662442326546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.370018482208252,
                "transform": {
                    "location": {
                        "x": 716.2079467773438,
                        "y": 4290.1103515625,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.47869378328323364,
                        "yaw": -179.80140686035156
                    }
                },
                "velocity": {
                    "x": -4.369767189025879,
                    "y": -0.03906865790486336,
                    "z": 0.02586238831281662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.253244638442993,
                "transform": {
                    "location": {
                        "x": 702.1843872070312,
                        "y": 4290.20654296875,
                        "z": 369.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35028624534606934,
                        "yaw": 179.96206665039062
                    }
                },
                "velocity": {
                    "x": -2.253136396408081,
                    "y": -0.018017632886767387,
                    "z": 0.01277344673871994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004088298417627811,
        "expert_target_speed": 2.692478171015713,
        "target_point": [
            51.02681889924215,
            0.0836543152103944
        ],
        "target_point_next": [
            102.02672941585053,
            0.1661293082057258
        ]
    },
    "35": {
        "acceleration": [
            -4.057602882385254,
            0.03862127661705017,
            0.0032070279121398926
        ],
        "angular_velocity": [
            0.007922178134322166,
            0.4112664759159088,
            0.6696138978004456
        ],
        "forward_vector": [
            -0.9998998045921326,
            0.007607711013406515,
            0.011936858296394348
        ],
        "right_vector": [
            -0.007608557119965553,
            -0.9999710321426392,
            -2.5472994821029715e-05
        ],
        "location": [
            732.0364379882812,
            4286.7919921875,
            369.49432373046875
        ],
        "rotation": [
            0.0014595991233363748,
            0.6839478015899658,
            179.56407165527344
        ],
        "velocity": [
            -2.560368061065674,
            0.021411443129181862,
            0.014205331914126873
        ],
        "speed": 2.560457587624148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.95613861083984,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                665.8557739257812,
                4296.94580078125,
                369.8736267089844
            ],
            "velocity": [
                8.090654373168945,
                0.04998842254281044,
                -0.05367059260606766
            ],
            "speed_kmh": 29.127552516307635,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.090987205505371,
                "transform": {
                    "location": {
                        "x": 665.8557739257812,
                        "y": 4296.94580078125,
                        "z": 369.8736267089844
                    },
                    "rotation": {
                        "roll": -0.007324219215661287,
                        "pitch": -0.31494683027267456,
                        "yaw": 0.13731762766838074
                    }
                },
                "velocity": {
                    "x": 8.090654373168945,
                    "y": 0.04998842254281044,
                    "z": -0.05367059260606766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.270133972167969,
                "transform": {
                    "location": {
                        "x": 665.8599853515625,
                        "y": 4293.697265625,
                        "z": 369.8818359375
                    },
                    "rotation": {
                        "roll": -0.052001941949129105,
                        "pitch": -0.3364277780056,
                        "yaw": 0.139989972114563
                    }
                },
                "velocity": {
                    "x": 8.269911766052246,
                    "y": 0.04908223822712898,
                    "z": -0.03560657426714897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.451961517333984,
                "transform": {
                    "location": {
                        "x": 760.1292114257812,
                        "y": 4285.8251953125,
                        "z": 369.3271484375
                    },
                    "rotation": {
                        "roll": 0.0038021302316337824,
                        "pitch": 0.38960763812065125,
                        "yaw": 177.0806427001953
                    }
                },
                "velocity": {
                    "x": -4.44717264175415,
                    "y": 0.20432931184768677,
                    "z": 0.02949841506779194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.013422966003418,
                "transform": {
                    "location": {
                        "x": 745.9855346679688,
                        "y": 4286.501953125,
                        "z": 369.4181823730469
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": 0.7981348633766174,
                        "yaw": 178.63963317871094
                    }
                },
                "velocity": {
                    "x": -5.012607574462891,
                    "y": 0.08461152017116547,
                    "z": 0.031883981078863144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.411758899688721,
                "transform": {
                    "location": {
                        "x": 714.939697265625,
                        "y": 4286.85498046875,
                        "z": 369.59320068359375
                    },
                    "rotation": {
                        "roll": 0.01933136209845543,
                        "pitch": 0.8842430710792542,
                        "yaw": -179.8705291748047
                    }
                },
                "velocity": {
                    "x": -5.411653995513916,
                    "y": -0.010935147292912006,
                    "z": 0.03186902031302452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324244499206543,
                "transform": {
                    "location": {
                        "x": 699.9428100585938,
                        "y": 4286.9453125,
                        "z": 369.7197265625
                    },
                    "rotation": {
                        "roll": 0.008706972002983093,
                        "pitch": 0.4497884213924408,
                        "yaw": -179.79385375976562
                    }
                },
                "velocity": {
                    "x": -5.3241424560546875,
                    "y": -0.008787357248365879,
                    "z": 0.03175091743469238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2888503074646,
                "transform": {
                    "location": {
                        "x": 759.8945922851562,
                        "y": 4289.0859375,
                        "z": 369.3399658203125
                    },
                    "rotation": {
                        "roll": 0.005559108220040798,
                        "pitch": 0.2765201926231384,
                        "yaw": 177.10623168945312
                    }
                },
                "velocity": {
                    "x": -5.283191204071045,
                    "y": 0.24199631810188293,
                    "z": 0.03557756170630455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285097122192383,
                "transform": {
                    "location": {
                        "x": 744.95654296875,
                        "y": 4289.76611328125,
                        "z": 369.42919921875
                    },
                    "rotation": {
                        "roll": 0.004804009571671486,
                        "pitch": 0.24019725620746613,
                        "yaw": 178.82749938964844
                    }
                },
                "velocity": {
                    "x": -5.284327507019043,
                    "y": 0.08415006101131439,
                    "z": 0.03240690007805824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3108439445495605,
                "transform": {
                    "location": {
                        "x": 714.9620361328125,
                        "y": 4290.10595703125,
                        "z": 369.6326904296875
                    },
                    "rotation": {
                        "roll": 0.009589609690010548,
                        "pitch": 0.45263659954071045,
                        "yaw": -179.83421325683594
                    }
                },
                "velocity": {
                    "x": -5.310747146606445,
                    "y": -0.008863654918968678,
                    "z": 0.030809134244918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.81040620803833,
                "transform": {
                    "location": {
                        "x": 701.54833984375,
                        "y": 4290.20263671875,
                        "z": 369.6699523925781
                    },
                    "rotation": {
                        "roll": 0.0005600251606665552,
                        "pitch": 0.3497466444969177,
                        "yaw": -179.87600708007812
                    }
                },
                "velocity": {
                    "x": -2.8102612495422363,
                    "y": -0.024291157722473145,
                    "z": 0.015007228590548038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004743190016597509,
        "expert_target_speed": 3.5859765087115445,
        "target_point": [
            50.50012198086206,
            0.08783733414738071
        ],
        "target_point_next": [
            101.50002622133584,
            0.17410603668533042
        ]
    },
    "40": {
        "acceleration": [
            -4.942359924316406,
            0.042632147669792175,
            0.028367824852466583
        ],
        "angular_velocity": [
            -0.0010032339487224817,
            0.4139348864555359,
            -0.22587695717811584
        ],
        "forward_vector": [
            -0.9998717904090881,
            0.007995855063199997,
            0.013873727060854435
        ],
        "right_vector": [
            -0.00799684040248394,
            -0.9999680519104004,
            -1.5504334442084655e-05
        ],
        "location": [
            731.2485961914062,
            4286.798828125,
            369.4984436035156
        ],
        "rotation": [
            0.0008884184644557536,
            0.7949315309524536,
            179.5418243408203
        ],
        "velocity": [
            -3.7234954833984375,
            0.031962811946868896,
            0.02066843956708908
        ],
        "speed": 3.7236326666625046,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.18537902832031,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                667.872802734375,
                4296.95458984375,
                369.8617858886719
            ],
            "velocity": [
                8.047382354736328,
                0.028299041092395782,
                -0.04426578804850578
            ],
            "speed_kmh": 28.971193880217594,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047554016113281,
                "transform": {
                    "location": {
                        "x": 667.872802734375,
                        "y": 4296.95458984375,
                        "z": 369.8617858886719
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.3138130307197571,
                        "yaw": 0.28841814398765564
                    }
                },
                "velocity": {
                    "x": 8.047382354736328,
                    "y": 0.028299041092395782,
                    "z": -0.04426578804850578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052302360534668,
                "transform": {
                    "location": {
                        "x": 667.8993530273438,
                        "y": 4293.705078125,
                        "z": 369.87139892578125
                    },
                    "rotation": {
                        "roll": 0.005831517744809389,
                        "pitch": -0.31317099928855896,
                        "yaw": 0.2927829623222351
                    }
                },
                "velocity": {
                    "x": 8.052133560180664,
                    "y": 0.026644816622138023,
                    "z": -0.04480607062578201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198419094085693,
                "transform": {
                    "location": {
                        "x": 758.9177856445312,
                        "y": 4285.88232421875,
                        "z": 369.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0023308543022722006,
                        "pitch": 0.38381561636924744,
                        "yaw": 177.24977111816406
                    }
                },
                "velocity": {
                    "x": -5.192943572998047,
                    "y": 0.23608581721782684,
                    "z": 0.03404930979013443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.538119316101074,
                "transform": {
                    "location": {
                        "x": 744.641845703125,
                        "y": 4286.52685546875,
                        "z": 369.4287414550781
                    },
                    "rotation": {
                        "roll": -0.004943847190588713,
                        "pitch": 0.5574048757553101,
                        "yaw": 179.00570678710938
                    }
                },
                "velocity": {
                    "x": -5.537324905395508,
                    "y": 0.08802544325590134,
                    "z": 0.03242214024066925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.235318660736084,
                "transform": {
                    "location": {
                        "x": 713.55419921875,
                        "y": 4286.8525390625,
                        "z": 369.60186767578125
                    },
                    "rotation": {
                        "roll": 0.01583186723291874,
                        "pitch": 0.7170127034187317,
                        "yaw": -179.9879913330078
                    }
                },
                "velocity": {
                    "x": -6.235206604003906,
                    "y": -0.006532677914947271,
                    "z": 0.036835458129644394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573041915893555,
                "transform": {
                    "location": {
                        "x": 698.5835571289062,
                        "y": 4286.943359375,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.005704930983483791,
                        "pitch": 0.3880230188369751,
                        "yaw": -179.76416015625
                    }
                },
                "velocity": {
                    "x": -5.57294225692749,
                    "y": -0.010125351138412952,
                    "z": 0.03171096742153168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.735456466674805,
                "transform": {
                    "location": {
                        "x": 758.5300903320312,
                        "y": 4289.14990234375,
                        "z": 369.3482971191406
                    },
                    "rotation": {
                        "roll": 0.005324273370206356,
                        "pitch": 0.30017995834350586,
                        "yaw": 177.29974365234375
                    }
                },
                "velocity": {
                    "x": -5.729562759399414,
                    "y": 0.25769102573394775,
                    "z": 0.03417787328362465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711518287658691,
                "transform": {
                    "location": {
                        "x": 743.595458984375,
                        "y": 4289.7890625,
                        "z": 369.4368591308594
                    },
                    "rotation": {
                        "roll": 0.005426398012787104,
                        "pitch": 0.2827083468437195,
                        "yaw": 178.96971130371094
                    }
                },
                "velocity": {
                    "x": -5.710806846618652,
                    "y": 0.08388219773769379,
                    "z": 0.032985057681798935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791581869125366,
                "transform": {
                    "location": {
                        "x": 713.7154541015625,
                        "y": 4290.1025390625,
                        "z": 369.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0062414915300905704,
                        "pitch": 0.2548002004623413,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -3.79152250289917,
                    "y": -0.004075090866535902,
                    "z": 0.02085009589791298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4125113487243652,
                "transform": {
                    "location": {
                        "x": 700.7705078125,
                        "y": 4290.1982421875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0037837540730834007,
                        "pitch": 0.3515361547470093,
                        "yaw": -179.77566528320312
                    }
                },
                "velocity": {
                    "x": -3.412445068359375,
                    "y": -0.010269862599670887,
                    "z": 0.018618058413267136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.008433441631495953,
        "expert_target_speed": 4.719430250591631,
        "target_point": [
            49.71221281196263,
            0.10797449139984061
        ],
        "target_point_next": [
            100.71207972588978,
            0.21403856755927197
        ]
    },
    "45": {
        "acceleration": [
            -4.206609725952148,
            0.04381351172924042,
            0.022139139473438263
        ],
        "angular_velocity": [
            -0.005762338172644377,
            -0.025528963655233383,
            -0.10864780843257904
        ],
        "forward_vector": [
            -0.9998591542243958,
            0.008410811424255371,
            0.01452025305479765
        ],
        "right_vector": [
            -0.00841203797608614,
            -0.9999645948410034,
            -2.3380429411190562e-05
        ],
        "location": [
            730.1723022460938,
            4286.80810546875,
            369.5045471191406
        ],
        "rotation": [
            0.0013397411676123738,
            0.831978440284729,
            179.51803588867188
        ],
        "velocity": [
            -4.815896987915039,
            0.04308699443936348,
            0.027513159438967705
        ],
        "speed": 4.816089729988319,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.13383102416992,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                669.888427734375,
                4296.9609375,
                369.85076904296875
            ],
            "velocity": [
                8.07709789276123,
                0.017671212553977966,
                -0.04481648653745651
            ],
            "speed_kmh": 29.078069602601328,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077240943908691,
                "transform": {
                    "location": {
                        "x": 669.888427734375,
                        "y": 4296.9609375,
                        "z": 369.85076904296875
                    },
                    "rotation": {
                        "roll": -0.0030517575796693563,
                        "pitch": -0.3135056793689728,
                        "yaw": 0.17711280286312103
                    }
                },
                "velocity": {
                    "x": 8.07709789276123,
                    "y": 0.017671212553977966,
                    "z": -0.04481648653745651
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27890682220459,
                "transform": {
                    "location": {
                        "x": 669.9417724609375,
                        "y": 4293.7109375,
                        "z": 369.8597717285156
                    },
                    "rotation": {
                        "roll": 0.006823468022048473,
                        "pitch": -0.3095714747905731,
                        "yaw": 0.1869998425245285
                    }
                },
                "velocity": {
                    "x": 8.278757095336914,
                    "y": 0.0186613779515028,
                    "z": -0.04610753059387207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.777711391448975,
                "transform": {
                    "location": {
                        "x": 757.5743408203125,
                        "y": 4285.94287109375,
                        "z": 369.34375
                    },
                    "rotation": {
                        "roll": 0.0033630055841058493,
                        "pitch": 0.37360450625419617,
                        "yaw": 177.3527374267578
                    }
                },
                "velocity": {
                    "x": -5.771892070770264,
                    "y": 0.25686800479888916,
                    "z": 0.0349997878074646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.23744268715381622,
                "transform": {
                    "location": {
                        "x": 743.8473510742188,
                        "y": 4286.55810546875,
                        "z": 369.4422912597656
                    },
                    "rotation": {
                        "roll": -0.03112792782485485,
                        "pitch": -0.596924364566803,
                        "yaw": -179.33444213867188
                    }
                },
                "velocity": {
                    "x": -0.2349177896976471,
                    "y": 0.03453221172094345,
                    "z": -0.0004362678446341306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682073593139648,
                "transform": {
                    "location": {
                        "x": 711.7977294921875,
                        "y": 4286.85107421875,
                        "z": 369.6112365722656
                    },
                    "rotation": {
                        "roll": 0.007605086080729961,
                        "pitch": 0.9264604449272156,
                        "yaw": -179.9710235595703
                    }
                },
                "velocity": {
                    "x": -7.681939125061035,
                    "y": -0.008049601688981056,
                    "z": 0.044728219509124756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.827959060668945,
                "transform": {
                    "location": {
                        "x": 696.9427490234375,
                        "y": 4286.939453125,
                        "z": 369.7361755371094
                    },
                    "rotation": {
                        "roll": 0.004255329724401236,
                        "pitch": 0.5321058630943298,
                        "yaw": -179.85525512695312
                    }
                },
                "velocity": {
                    "x": -7.827820301055908,
                    "y": -0.01291451882570982,
                    "z": 0.04475622996687889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132969856262207,
                "transform": {
                    "location": {
                        "x": 756.9819946289062,
                        "y": 4289.220703125,
                        "z": 369.3585205078125
                    },
                    "rotation": {
                        "roll": 0.004292186815291643,
                        "pitch": 0.22072437405586243,
                        "yaw": 177.40184020996094
                    }
                },
                "velocity": {
                    "x": -7.125746726989746,
                    "y": 0.3177978992462158,
                    "z": 0.0446748249232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.152634620666504,
                "transform": {
                    "location": {
                        "x": 742.0408935546875,
                        "y": 4289.8125,
                        "z": 369.44659423828125
                    },
                    "rotation": {
                        "roll": 0.0032856708858162165,
                        "pitch": 0.19471502304077148,
                        "yaw": 179.04177856445312
                    }
                },
                "velocity": {
                    "x": -7.151772975921631,
                    "y": 0.10282380878925323,
                    "z": 0.04180806875228882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6170775890350342,
                "transform": {
                    "location": {
                        "x": 713.3250122070312,
                        "y": 4290.1025390625,
                        "z": 369.64581298828125
                    },
                    "rotation": {
                        "roll": 0.004927413538098335,
                        "pitch": -0.002226641634479165,
                        "yaw": -179.97061157226562
                    }
                },
                "velocity": {
                    "x": -0.617064893245697,
                    "y": -0.00044369156239554286,
                    "z": 0.003937187138944864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219234466552734,
                "transform": {
                    "location": {
                        "x": 699.8165283203125,
                        "y": 4290.19580078125,
                        "z": 369.6798095703125
                    },
                    "rotation": {
                        "roll": 0.00335704511962831,
                        "pitch": 0.35683637857437134,
                        "yaw": -179.81971740722656
                    }
                },
                "velocity": {
                    "x": -4.219157695770264,
                    "y": -0.008086901158094406,
                    "z": 0.024142693728208542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009719894267618656,
        "expert_target_speed": 5.763779587185508,
        "target_point": [
            48.6358298359336,
            0.12882149807984639
        ],
        "target_point_next": [
            99.63564836084097,
            0.25604277400459174
        ]
    },
    "50": {
        "acceleration": [
            -0.2042388916015625,
            0.009318813681602478,
            -0.006713345646858215
        ],
        "angular_velocity": [
            -0.01377776451408863,
            -1.343807578086853,
            -0.046941764652729034
        ],
        "forward_vector": [
            -0.9998934864997864,
            0.008748450316488743,
            0.011684865690767765
        ],
        "right_vector": [
            -0.0087492810562253,
            -0.9999617338180542,
            -1.9980865545221604e-05
        ],
        "location": [
            728.8786010742188,
            4286.81982421875,
            369.5129089355469
        ],
        "rotation": [
            0.0011448974255472422,
            0.6695087552070618,
            179.49871826171875
        ],
        "velocity": [
            -5.250920295715332,
            0.04945347085595131,
            0.031415775418281555
        ],
        "speed": 5.251153168375009,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.98516082763672,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                671.7887573242188,
                4296.96484375,
                369.8404541015625
            ],
            "velocity": [
                7.358361721038818,
                0.002665551844984293,
                -0.04179208725690842
            ],
            "speed_kmh": 26.4905311777963,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.358480930328369,
                "transform": {
                    "location": {
                        "x": 671.7887573242188,
                        "y": 4296.96484375,
                        "z": 369.8404541015625
                    },
                    "rotation": {
                        "roll": -0.00274658203125,
                        "pitch": -0.3279993236064911,
                        "yaw": 0.09742804616689682
                    }
                },
                "velocity": {
                    "x": 7.358361721038818,
                    "y": 0.002665551844984293,
                    "z": -0.04179208725690842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061100006103516,
                "transform": {
                    "location": {
                        "x": 671.9829711914062,
                        "y": 4293.71533203125,
                        "z": 369.8485412597656
                    },
                    "rotation": {
                        "roll": 0.0050982339307665825,
                        "pitch": -0.3182389736175537,
                        "yaw": 0.09736938029527664
                    }
                },
                "velocity": {
                    "x": 8.060975074768066,
                    "y": 0.002680822741240263,
                    "z": -0.04480655491352081
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.743229389190674,
                "transform": {
                    "location": {
                        "x": 756.1293334960938,
                        "y": 4286.0078125,
                        "z": 369.35284423828125
                    },
                    "rotation": {
                        "roll": 0.0039937859401106834,
                        "pitch": 0.3413591682910919,
                        "yaw": 177.40182495117188
                    }
                },
                "velocity": {
                    "x": -4.738465785980225,
                    "y": 0.2104354202747345,
                    "z": 0.029759692028164864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.41709235310554504,
                "transform": {
                    "location": {
                        "x": 743.7735595703125,
                        "y": 4286.55859375,
                        "z": 369.4388732910156
                    },
                    "rotation": {
                        "roll": -0.0261840783059597,
                        "pitch": -0.1261262595653534,
                        "yaw": -179.3739471435547
                    }
                },
                "velocity": {
                    "x": -0.41707706451416016,
                    "y": 0.002637344179674983,
                    "z": 0.0024085044860839844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.546327114105225,
                "transform": {
                    "location": {
                        "x": 709.842041015625,
                        "y": 4286.85107421875,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": 0.021138150244951248,
                        "pitch": 0.585463285446167,
                        "yaw": -179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.5461907386779785,
                    "y": 0.009189454838633537,
                    "z": 0.04439432919025421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.27366828918457,
                "transform": {
                    "location": {
                        "x": 694.8802490234375,
                        "y": 4286.9384765625,
                        "z": 369.7488098144531
                    },
                    "rotation": {
                        "roll": 0.0100308358669281,
                        "pitch": 0.42735809087753296,
                        "yaw": -179.9911651611328
                    }
                },
                "velocity": {
                    "x": -8.273512840270996,
                    "y": 0.014853814616799355,
                    "z": 0.04858715832233429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.515552043914795,
                "transform": {
                    "location": {
                        "x": 755.1239013671875,
                        "y": 4289.3037109375,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": 0.0026438154745846987,
                        "pitch": 0.274682879447937,
                        "yaw": 177.4391326904297
                    }
                },
                "velocity": {
                    "x": -7.508052349090576,
                    "y": 0.3326932191848755,
                    "z": 0.04461463913321495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195838928222656,
                "transform": {
                    "location": {
                        "x": 740.1083374023438,
                        "y": 4289.8408203125,
                        "z": 369.4577331542969
                    },
                    "rotation": {
                        "roll": 0.002593334298580885,
                        "pitch": 0.20786996185779572,
                        "yaw": 179.1290283203125
                    }
                },
                "velocity": {
                    "x": -8.194869041442871,
                    "y": 0.116941437125206,
                    "z": 0.047264497727155685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1729753017425537,
                "transform": {
                    "location": {
                        "x": 712.935302734375,
                        "y": 4290.1025390625,
                        "z": 369.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0030590954702347517,
                        "pitch": 0.37620678544044495,
                        "yaw": -179.97811889648438
                    }
                },
                "velocity": {
                    "x": -2.1729331016540527,
                    "y": -0.0026007541455328465,
                    "z": 0.013275489211082458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.184385299682617,
                "transform": {
                    "location": {
                        "x": 698.638427734375,
                        "y": 4290.193359375,
                        "z": 369.6867370605469
                    },
                    "rotation": {
                        "roll": 0.001704079331830144,
                        "pitch": 0.3631884455680847,
                        "yaw": -179.86141967773438
                    }
                },
                "velocity": {
                    "x": -5.184272289276123,
                    "y": -0.009416542947292328,
                    "z": 0.032933156937360764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.012669465504586697,
        "expert_target_speed": 6.16814131828617,
        "target_point": [
            47.34202938904332,
            0.14564084020120416
        ],
        "target_point_next": [
            98.34180205762598,
            0.2900796833911943
        ]
    },
    "55": {
        "acceleration": [
            -5.562925338745117,
            0.0632275640964508,
            0.02180926501750946
        ],
        "angular_velocity": [
            0.07834442704916,
            1.52413010597229,
            -0.11048245429992676
        ],
        "forward_vector": [
            -0.9998888969421387,
            0.009209736250340939,
            0.01171907689422369
        ],
        "right_vector": [
            -0.009210706688463688,
            -0.9999575614929199,
            -2.8847331122960895e-05
        ],
        "location": [
            727.5076293945312,
            4286.83203125,
            369.52093505859375
        ],
        "rotation": [
            0.001652943785302341,
            0.6714690327644348,
            179.47227478027344
        ],
        "velocity": [
            -6.129486083984375,
            0.059491414576768875,
            0.034743987023830414
        ],
        "speed": 6.129774782336334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.73506546020508,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                673.7193603515625,
                4296.9638671875,
                369.82965087890625
            ],
            "velocity": [
                8.214502334594727,
                -0.017663976177573204,
                -0.0446290485560894
            ],
            "speed_kmh": 29.572713212609827,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.214642524719238,
                "transform": {
                    "location": {
                        "x": 673.7193603515625,
                        "y": 4296.9638671875,
                        "z": 369.82965087890625
                    },
                    "rotation": {
                        "roll": 0.00033783834078349173,
                        "pitch": -0.3025773763656616,
                        "yaw": -0.0564269982278347
                    }
                },
                "velocity": {
                    "x": 8.214502334594727,
                    "y": -0.017663976177573204,
                    "z": -0.0446290485560894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.28757095336914,
                "transform": {
                    "location": {
                        "x": 674.0276489257812,
                        "y": 4293.71435546875,
                        "z": 369.8372497558594
                    },
                    "rotation": {
                        "roll": 0.013918338343501091,
                        "pitch": -0.31658607721328735,
                        "yaw": -0.0653991624712944
                    }
                },
                "velocity": {
                    "x": 8.287425994873047,
                    "y": -0.017221232876181602,
                    "z": -0.04593464359641075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008984927553683519,
                "transform": {
                    "location": {
                        "x": 755.5721435546875,
                        "y": 4286.033203125,
                        "z": 369.3567199707031
                    },
                    "rotation": {
                        "roll": 0.0020936252549290657,
                        "pitch": 0.2461736649274826,
                        "yaw": 177.4545135498047
                    }
                },
                "velocity": {
                    "x": -0.00010577648936305195,
                    "y": -3.4353983210166916e-05,
                    "z": 0.000891583098564297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0765780210494995,
                "transform": {
                    "location": {
                        "x": 743.5905151367188,
                        "y": 4286.55908203125,
                        "z": 369.4342346191406
                    },
                    "rotation": {
                        "roll": 0.02454586885869503,
                        "pitch": 0.5928467512130737,
                        "yaw": -179.47097778320312
                    }
                },
                "velocity": {
                    "x": -1.0765215158462524,
                    "y": 0.009189916774630547,
                    "z": 0.006110629998147488
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.997226238250732,
                "transform": {
                    "location": {
                        "x": 708.1361083984375,
                        "y": 4286.85400390625,
                        "z": 369.6358642578125
                    },
                    "rotation": {
                        "roll": 0.013181172311306,
                        "pitch": 0.015190339647233486,
                        "yaw": 179.89976501464844
                    }
                },
                "velocity": {
                    "x": -5.997110366821289,
                    "y": 0.011718095280230045,
                    "z": 0.03545088693499565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.837887763977051,
                "transform": {
                    "location": {
                        "x": 692.8756713867188,
                        "y": 4286.94140625,
                        "z": 369.7613220214844
                    },
                    "rotation": {
                        "roll": 0.004472298547625542,
                        "pitch": 0.3123035430908203,
                        "yaw": 179.88287353515625
                    }
                },
                "velocity": {
                    "x": -7.837734222412109,
                    "y": 0.02047029510140419,
                    "z": 0.04461906477808952
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.182641983032227,
                "transform": {
                    "location": {
                        "x": 753.1724853515625,
                        "y": 4289.38818359375,
                        "z": 369.38092041015625
                    },
                    "rotation": {
                        "roll": 0.009082003496587276,
                        "pitch": 0.27784526348114014,
                        "yaw": 177.53118896484375
                    }
                },
                "velocity": {
                    "x": -8.176149368286133,
                    "y": 0.32254353165626526,
                    "z": 0.04672471806406975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.148000717163086,
                "transform": {
                    "location": {
                        "x": 737.9338989257812,
                        "y": 4289.87060546875,
                        "z": 369.4701843261719
                    },
                    "rotation": {
                        "roll": 0.009978070855140686,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.23463439941406
                    }
                },
                "velocity": {
                    "x": -9.147330284118652,
                    "y": 0.09730372577905655,
                    "z": 0.05285564437508583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.345181941986084,
                "transform": {
                    "location": {
                        "x": 712.3787231445312,
                        "y": 4290.10302734375,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001913300366140902,
                        "pitch": 0.36709532141685486,
                        "yaw": -179.95449829101562
                    }
                },
                "velocity": {
                    "x": -2.345134735107422,
                    "y": -0.004080724902451038,
                    "z": 0.014307918027043343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.432894229888916,
                "transform": {
                    "location": {
                        "x": 697.316162109375,
                        "y": 4290.19140625,
                        "z": 369.6946716308594
                    },
                    "rotation": {
                        "roll": 0.003205154789611697,
                        "pitch": 0.34364044666290283,
                        "yaw": -179.8677215576172
                    }
                },
                "velocity": {
                    "x": -5.432805061340332,
                    "y": -0.009831953793764114,
                    "z": 0.02951238490641117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024159597232937813,
        "expert_target_speed": 6.915163039941464,
        "target_point": [
            45.97093124152098,
            0.16705021502165018
        ],
        "target_point_next": [
            96.97063188748551,
            0.335005115331664
        ]
    },
    "60": {
        "acceleration": [
            -5.01927375793457,
            0.067024827003479,
            0.026423707604408264
        ],
        "angular_velocity": [
            0.05374354496598244,
            0.24735219776630402,
            -0.8685578107833862
        ],
        "forward_vector": [
            -0.999840497970581,
            0.009903517551720142,
            0.01486270409077406
        ],
        "right_vector": [
            -0.009905500337481499,
            -0.9999509453773499,
            -5.9785674238810316e-05
        ],
        "location": [
            725.8014526367188,
            4286.84912109375,
            369.5301208496094
        ],
        "rotation": [
            0.0034258451778441668,
            0.8516016006469727,
            179.4324951171875
        ],
        "velocity": [
            -7.420416831970215,
            0.07630930095911026,
            0.042497530579566956
        ],
        "speed": 7.420809192372469,
        "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": 51.010311126708984,
        "front_vehicle_info": {
            "id": 56408,
            "type": "vehicle.ford.mustang",
            "location": [
                675.803955078125,
                4296.95947265625,
                369.8182067871094
            ],
            "velocity": [
                8.194021224975586,
                -0.02450309880077839,
                -0.045181963592767715
            ],
            "speed_kmh": 29.499056737217515,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.194182395935059,
                "transform": {
                    "location": {
                        "x": 675.803955078125,
                        "y": 4296.95947265625,
                        "z": 369.8182067871094
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.3127748370170593,
                        "yaw": -0.1554870903491974
                    }
                },
                "velocity": {
                    "x": 8.194021224975586,
                    "y": -0.02450309880077839,
                    "z": -0.045181963592767715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070263862609863,
                "transform": {
                    "location": {
                        "x": 676.0712280273438,
                        "y": 4293.7099609375,
                        "z": 369.8260192871094
                    },
                    "rotation": {
                        "roll": 0.006304822396486998,
                        "pitch": -0.31945475935935974,
                        "yaw": -0.1679687350988388
                    }
                },
                "velocity": {
                    "x": 8.070099830627441,
                    "y": -0.02521665208041668,
                    "z": -0.04491735249757767
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9252704381942749,
                "transform": {
                    "location": {
                        "x": 755.4412841796875,
                        "y": 4286.0390625,
                        "z": 369.3567810058594
                    },
                    "rotation": {
                        "roll": 0.0014031799510121346,
                        "pitch": 0.339692622423172,
                        "yaw": 177.4818572998047
                    }
                },
                "velocity": {
                    "x": -0.9243938326835632,
                    "y": 0.039897967129945755,
                    "z": 0.005436668172478676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2608184814453125,
                "transform": {
                    "location": {
                        "x": 743.1822509765625,
                        "y": 4286.56201171875,
                        "z": 369.4358825683594
                    },
                    "rotation": {
                        "roll": 0.028150590136647224,
                        "pitch": 0.6718446612358093,
                        "yaw": -179.6458740234375
                    }
                },
                "velocity": {
                    "x": -2.26066255569458,
                    "y": 0.022954249754548073,
                    "z": 0.013357686810195446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.358396530151367,
                "transform": {
                    "location": {
                        "x": 706.7506103515625,
                        "y": 4286.85791015625,
                        "z": 369.64404296875
                    },
                    "rotation": {
                        "roll": 0.0073342155665159225,
                        "pitch": -0.030182603746652603,
                        "yaw": 179.90802001953125
                    }
                },
                "velocity": {
                    "x": -5.358285903930664,
                    "y": 0.011619352735579014,
                    "z": 0.032434966415166855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077555656433105,
                "transform": {
                    "location": {
                        "x": 690.8976440429688,
                        "y": 4286.947265625,
                        "z": 369.7723388671875
                    },
                    "rotation": {
                        "roll": 0.002978866919875145,
                        "pitch": 0.3452114164829254,
                        "yaw": 179.84957885742188
                    }
                },
                "velocity": {
                    "x": -8.077397346496582,
                    "y": 0.020977575331926346,
                    "z": 0.04595557227730751
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.981466293334961,
                "transform": {
                    "location": {
                        "x": 751.0265502929688,
                        "y": 4289.47314453125,
                        "z": 369.39361572265625
                    },
                    "rotation": {
                        "roll": 0.004459237214177847,
                        "pitch": 0.24990977346897125,
                        "yaw": 177.71923828125
                    }
                },
                "velocity": {
                    "x": -8.974641799926758,
                    "y": 0.3460603654384613,
                    "z": 0.05271494761109352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.969143867492676,
                "transform": {
                    "location": {
                        "x": 735.5403442382812,
                        "y": 4289.8955078125,
                        "z": 369.484130859375
                    },
                    "rotation": {
                        "roll": 0.0034904177300632,
                        "pitch": 0.24368064105510712,
                        "yaw": 179.39122009277344
                    }
                },
                "velocity": {
                    "x": -9.968490600585938,
                    "y": 0.09872545301914215,
                    "z": 0.05723952129483223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.453361749649048,
                "transform": {
                    "location": {
                        "x": 711.6644897460938,
                        "y": 4290.1015625,
                        "z": 369.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0026039239019155502,
                        "pitch": 0.4303770363330841,
                        "yaw": -179.94654846191406
                    }
                },
                "velocity": {
                    "x": -3.453301429748535,
                    "y": -0.004772179294377565,
                    "z": 0.019817542284727097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.548323631286621,
                "transform": {
                    "location": {
                        "x": 695.8190307617188,
                        "y": 4290.189453125,
                        "z": 369.7029113769531
                    },
                    "rotation": {
                        "roll": 0.0026848975103348494,
                        "pitch": 0.3600875437259674,
                        "yaw": -179.85853576660156
                    }
                },
                "velocity": {
                    "x": -6.548215389251709,
                    "y": -0.002795879263430834,
                    "z": 0.037562720477581024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.028757017105817795,
        "expert_target_speed": 7.917754267625315,
        "target_point": [
            44.26454184851626,
            0.19915730732456835
        ],
        "target_point_next": [
            95.26411359624096,
            0.40251997649697746
        ]
    },
    "65": {
        "acceleration": [
            -4.000740051269531,
            0.06379902362823486,
            0.02932637929916382
        ],
        "angular_velocity": [
            -0.035094138234853745,
            -0.08315395563840866,
            -0.17775067687034607
        ],
        "forward_vector": [
            -0.9998349547386169,
            0.010585776530206203,
            0.014763771556317806
        ],
        "right_vector": [
            -0.010588346049189568,
            -0.9999439716339111,
            -9.587941895006225e-05
        ],
        "location": [
            723.8070678710938,
            4286.8701171875,
            369.5416564941406
        ],
        "rotation": [
            0.005494085140526295,
            0.8459325432777405,
            179.39340209960938
        ],
        "velocity": [
            -8.485566139221191,
            0.09286987781524658,
            0.04913269728422165
        ],
        "speed": 8.486074328999402,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.425922393798828,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                705.3814697265625,
                4286.86181640625,
                369.65093994140625
            ],
            "velocity": [
                -5.96375036239624,
                0.02254892699420452,
                0.034963589161634445
            ],
            "speed_kmh": 21.470023726579203,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.905361652374268,
                "transform": {
                    "location": {
                        "x": 677.80078125,
                        "y": 4296.953125,
                        "z": 369.8072509765625
                    },
                    "rotation": {
                        "roll": 0.0010079995263367891,
                        "pitch": -0.3253423869609833,
                        "yaw": -0.21282954514026642
                    }
                },
                "velocity": {
                    "x": 7.905162334442139,
                    "y": -0.03353138267993927,
                    "z": -0.044969670474529266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.296976089477539,
                "transform": {
                    "location": {
                        "x": 678.1182861328125,
                        "y": 4293.70263671875,
                        "z": 369.8146057128906
                    },
                    "rotation": {
                        "roll": 0.006617904175072908,
                        "pitch": -0.3181092143058777,
                        "yaw": -0.2360534369945526
                    }
                },
                "velocity": {
                    "x": 8.296764373779297,
                    "y": -0.03732840344309807,
                    "z": -0.046084556728601456
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6758151054382324,
                "transform": {
                    "location": {
                        "x": 755.1134033203125,
                        "y": 4286.0537109375,
                        "z": 369.35858154296875
                    },
                    "rotation": {
                        "roll": 0.0025195174384862185,
                        "pitch": 0.36311331391334534,
                        "yaw": 177.50843811035156
                    }
                },
                "velocity": {
                    "x": -1.6741809844970703,
                    "y": 0.07326360791921616,
                    "z": 0.010334109887480736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9286370277404785,
                "transform": {
                    "location": {
                        "x": 742.4196166992188,
                        "y": 4286.56689453125,
                        "z": 369.4402160644531
                    },
                    "rotation": {
                        "roll": 0.026227688416838646,
                        "pitch": 0.6990424990653992,
                        "yaw": -179.95310974121094
                    }
                },
                "velocity": {
                    "x": -3.9283413887023926,
                    "y": 0.04241933301091194,
                    "z": 0.02289048209786415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.963895320892334,
                "transform": {
                    "location": {
                        "x": 705.3814697265625,
                        "y": 4286.86181640625,
                        "z": 369.65093994140625
                    },
                    "rotation": {
                        "roll": 0.012543737888336182,
                        "pitch": 0.28953853249549866,
                        "yaw": 179.9069061279297
                    }
                },
                "velocity": {
                    "x": -5.96375036239624,
                    "y": 0.02254892699420452,
                    "z": 0.034963589161634445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.089090347290039,
                "transform": {
                    "location": {
                        "x": 688.86279296875,
                        "y": 4286.955078125,
                        "z": 369.7840576171875
                    },
                    "rotation": {
                        "roll": 0.004103950224816799,
                        "pitch": 0.32931071519851685,
                        "yaw": 179.77755737304688
                    }
                },
                "velocity": {
                    "x": -8.088886260986328,
                    "y": 0.03581821173429489,
                    "z": 0.04496496915817261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.897693634033203,
                "transform": {
                    "location": {
                        "x": 748.6629028320312,
                        "y": 4289.564453125,
                        "z": 369.40753173828125
                    },
                    "rotation": {
                        "roll": 0.000610960996709764,
                        "pitch": 0.24406996369361877,
                        "yaw": 177.78610229492188
                    }
                },
                "velocity": {
                    "x": -9.890220642089844,
                    "y": 0.3802548944950104,
                    "z": 0.05725794658064842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.632113456726074,
                "transform": {
                    "location": {
                        "x": 732.9400024414062,
                        "y": 4289.92041015625,
                        "z": 369.4991760253906
                    },
                    "rotation": {
                        "roll": 0.005804304964840412,
                        "pitch": 0.26051023602485657,
                        "yaw": 179.4771270751953
                    }
                },
                "velocity": {
                    "x": -10.631620407104492,
                    "y": 0.08229277282953262,
                    "z": 0.06095417961478233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.774946689605713,
                "transform": {
                    "location": {
                        "x": 710.6270751953125,
                        "y": 4290.1005859375,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": 0.008046934381127357,
                        "pitch": 0.4704838991165161,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -4.774855136871338,
                    "y": 0.010333729907870293,
                    "z": 0.02769923210144043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5038533210754395,
                "transform": {
                    "location": {
                        "x": 694.0505981445312,
                        "y": 4290.189453125,
                        "z": 369.7130432128906
                    },
                    "rotation": {
                        "roll": 0.004176103975623846,
                        "pitch": 0.36464327573776245,
                        "yaw": -179.98101806640625
                    }
                },
                "velocity": {
                    "x": -7.503725528717041,
                    "y": 0.011006532236933708,
                    "z": 0.04232669621706009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03422807157039642,
        "expert_target_speed": 8.676818422130516,
        "target_point": [
            42.26990036949304,
            0.22924264981095682
        ],
        "target_point_next": [
            93.26932147902622,
            0.46740502936251105
        ]
    },
    "70": {
        "acceleration": [
            -3.2836532592773438,
            0.06989389657974243,
            0.008033737540245056
        ],
        "angular_velocity": [
            0.012598256580531597,
            -0.348287969827652,
            -0.19909046590328217
        ],
        "forward_vector": [
            -0.9998370409011841,
            0.011407830752432346,
            0.013990660198032856
        ],
        "right_vector": [
            -0.011410768143832684,
            -0.9999349117279053,
            -0.0001301025622524321
        ],
        "location": [
            721.5563354492188,
            4286.8955078125,
            369.5549011230469
        ],
        "rotation": [
            0.007455056998878717,
            0.8016319274902344,
            179.34629821777344
        ],
        "velocity": [
            -9.425702095031738,
            0.11065496504306793,
            0.054032981395721436
        ],
        "speed": 9.426351600994648,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.974933624267578,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                703.5817260742188,
                4286.8681640625,
                369.6590881347656
            ],
            "velocity": [
                -7.863468647003174,
                0.03072751685976982,
                0.045475032180547714
            ],
            "speed_kmh": 28.30917662390324,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.157737731933594,
                "transform": {
                    "location": {
                        "x": 679.8093872070312,
                        "y": 4296.94384765625,
                        "z": 369.7958984375
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.3167431652545929,
                        "yaw": -0.2641296088695526
                    }
                },
                "velocity": {
                    "x": 8.157522201538086,
                    "y": -0.039105452597141266,
                    "z": -0.04474877193570137
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.079609870910645,
                "transform": {
                    "location": {
                        "x": 680.1641845703125,
                        "y": 4293.693359375,
                        "z": 369.80322265625
                    },
                    "rotation": {
                        "roll": 0.0019239631947129965,
                        "pitch": -0.3233274817466736,
                        "yaw": -0.2817077338695526
                    }
                },
                "velocity": {
                    "x": 8.079384803771973,
                    "y": -0.04023205116391182,
                    "z": -0.044849880039691925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1941115856170654,
                "transform": {
                    "location": {
                        "x": 754.6071166992188,
                        "y": 4286.07568359375,
                        "z": 369.36175537109375
                    },
                    "rotation": {
                        "roll": 0.002377614378929138,
                        "pitch": 0.35922011733055115,
                        "yaw": 177.5079803466797
                    }
                },
                "velocity": {
                    "x": -2.191971778869629,
                    "y": 0.09589012712240219,
                    "z": 0.013797272928059101
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.42909049987793,
                "transform": {
                    "location": {
                        "x": 741.2001342773438,
                        "y": 4286.578125,
                        "z": 369.44720458984375
                    },
                    "rotation": {
                        "roll": 0.021288814023137093,
                        "pitch": 0.7387190461158752,
                        "yaw": 179.68899536132812
                    }
                },
                "velocity": {
                    "x": -5.428606986999512,
                    "y": 0.06447391211986542,
                    "z": 0.033090658485889435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8636603355407715,
                "transform": {
                    "location": {
                        "x": 703.5817260742188,
                        "y": 4286.8681640625,
                        "z": 369.6590881347656
                    },
                    "rotation": {
                        "roll": 0.010484299622476101,
                        "pitch": 0.8867975473403931,
                        "yaw": 179.84164428710938
                    }
                },
                "velocity": {
                    "x": -7.863468647003174,
                    "y": 0.03072751685976982,
                    "z": 0.045475032180547714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9189229011535645,
                "transform": {
                    "location": {
                        "x": 686.8712158203125,
                        "y": 4286.96337890625,
                        "z": 369.7953796386719
                    },
                    "rotation": {
                        "roll": 0.0017125798622146249,
                        "pitch": 0.3143116235733032,
                        "yaw": 179.74847412109375
                    }
                },
                "velocity": {
                    "x": -7.918719291687012,
                    "y": 0.03463706374168396,
                    "z": 0.04495878145098686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.047444343566895,
                "transform": {
                    "location": {
                        "x": 746.1273193359375,
                        "y": 4289.6484375,
                        "z": 369.42181396484375
                    },
                    "rotation": {
                        "roll": 0.010731637477874756,
                        "pitch": 0.2979191839694977,
                        "yaw": 178.1370849609375
                    }
                },
                "velocity": {
                    "x": -10.042609214782715,
                    "y": 0.30589550733566284,
                    "z": 0.059674110263586044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.418067932128906,
                "transform": {
                    "location": {
                        "x": 730.4203491210938,
                        "y": 4289.939453125,
                        "z": 369.5125427246094
                    },
                    "rotation": {
                        "roll": 0.0015617581084370613,
                        "pitch": 0.4129805266857147,
                        "yaw": 179.5707550048828
                    }
                },
                "velocity": {
                    "x": -9.417662620544434,
                    "y": 0.06782463192939758,
                    "z": 0.05512164160609245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341159343719482,
                "transform": {
                    "location": {
                        "x": 709.327392578125,
                        "y": 4290.1025390625,
                        "z": 369.6658020019531
                    },
                    "rotation": {
                        "roll": 0.003970598801970482,
                        "pitch": 0.4117306172847748,
                        "yaw": 179.99392700195312
                    }
                },
                "velocity": {
                    "x": -5.341063499450684,
                    "y": 0.011645819991827011,
                    "z": 0.029831932857632637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638978004455566,
                "transform": {
                    "location": {
                        "x": 692.0530395507812,
                        "y": 4290.19189453125,
                        "z": 369.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0026137938257306814,
                        "pitch": 0.37003231048583984,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": -8.638811111450195,
                    "y": 0.021695613861083984,
                    "z": 0.048989780247211456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31410494446754456,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04265790432691574,
        "expert_target_speed": 9.341717154140941,
        "target_point": [
            40.01882201848247,
            0.2637026569019263
        ],
        "target_point_next": [
            91.01803010997749,
            0.5437899056679041
        ]
    },
    "75": {
        "acceleration": [
            -1.0656166076660156,
            0.04487484693527222,
            -0.012005046010017395
        ],
        "angular_velocity": [
            -0.06346689164638519,
            -0.6426188349723816,
            -0.20999880135059357
        ],
        "forward_vector": [
            -0.999859631061554,
            0.012304781936109066,
            0.011372797191143036
        ],
        "right_vector": [
            -0.012307456694543362,
            -0.9999243021011353,
            -0.00016525786486454308
        ],
        "location": [
            719.1380004882812,
            4286.9248046875,
            369.5696105957031
        ],
        "rotation": [
            0.009469190612435341,
            0.6516273021697998,
            179.294921875
        ],
        "velocity": [
            -9.856606483459473,
            0.12397323548793793,
            0.0566529743373394
        ],
        "speed": 9.857386100427062,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.5440673828125,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                701.5942993164062,
                4286.8759765625,
                369.6717529296875
            ],
            "velocity": [
                -7.816594123840332,
                0.03578551113605499,
                0.044612206518650055
            ],
            "speed_kmh": 28.14049204527673,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 640.9503173828125,
                        "y": 4297.0791015625,
                        "z": 370.1801452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 640.9310913085938,
                        "y": 4293.8291015625,
                        "z": 370.1801452636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072196006774902,
                "transform": {
                    "location": {
                        "x": 681.8446044921875,
                        "y": 4296.93408203125,
                        "z": 369.78460693359375
                    },
                    "rotation": {
                        "roll": 0.0001542185782454908,
                        "pitch": -0.32174286246299744,
                        "yaw": -0.287628173828125
                    }
                },
                "velocity": {
                    "x": 8.071962356567383,
                    "y": -0.04204297438263893,
                    "z": -0.04471664875745773
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.3064603805542,
                "transform": {
                    "location": {
                        "x": 682.2135620117188,
                        "y": 4293.68310546875,
                        "z": 369.791748046875
                    },
                    "rotation": {
                        "roll": 0.0014348087133839726,
                        "pitch": -0.319304496049881,
                        "yaw": -0.3002013564109802
                    }
                },
                "velocity": {
                    "x": 8.306212425231934,
                    "y": -0.04460460692644119,
                    "z": -0.04616834968328476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.14038412272930145,
                "transform": {
                    "location": {
                        "x": 754.3896484375,
                        "y": 4286.08447265625,
                        "z": 369.3634948730469
                    },
                    "rotation": {
                        "roll": 0.0006449140491895378,
                        "pitch": 0.30181920528411865,
                        "yaw": 177.4786376953125
                    }
                },
                "velocity": {
                    "x": -0.14024004340171814,
                    "y": 0.006190489511936903,
                    "z": 0.0014520167605951428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.845584392547607,
                "transform": {
                    "location": {
                        "x": 739.7145385742188,
                        "y": 4286.5947265625,
                        "z": 369.4571533203125
                    },
                    "rotation": {
                        "roll": 0.012305782176554203,
                        "pitch": 0.6098607182502747,
                        "yaw": 179.46347045898438
                    }
                },
                "velocity": {
                    "x": -6.844886779785156,
                    "y": 0.08921713382005692,
                    "z": 0.03989829868078232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.816803455352783,
                "transform": {
                    "location": {
                        "x": 701.5942993164062,
                        "y": 4286.8759765625,
                        "z": 369.6717529296875
                    },
                    "rotation": {
                        "roll": 0.009691094048321247,
                        "pitch": 0.5790360569953918,
                        "yaw": 179.74925231933594
                    }
                },
                "velocity": {
                    "x": -7.816594123840332,
                    "y": 0.03578551113605499,
                    "z": 0.044612206518650055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.104074478149414,
                "transform": {
                    "location": {
                        "x": 684.8656616210938,
                        "y": 4286.97314453125,
                        "z": 369.8065185546875
                    },
                    "rotation": {
                        "roll": 0.002025936497375369,
                        "pitch": 0.3346450924873352,
                        "yaw": 179.7212677001953
                    }
                },
                "velocity": {
                    "x": -8.103837966918945,
                    "y": 0.04188060760498047,
                    "z": 0.04554806649684906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.923079490661621,
                "transform": {
                    "location": {
                        "x": 743.771728515625,
                        "y": 4289.72021484375,
                        "z": 369.4345703125
                    },
                    "rotation": {
                        "roll": 0.0016462219646200538,
                        "pitch": 0.4277473986148834,
                        "yaw": 178.26853942871094
                    }
                },
                "velocity": {
                    "x": -8.918971061706543,
                    "y": 0.2654922902584076,
                    "z": 0.05303572490811348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.083536148071289,
                "transform": {
                    "location": {
                        "x": 728.1481323242188,
                        "y": 4289.95556640625,
                        "z": 369.5260314941406
                    },
                    "rotation": {
                        "roll": 0.0015170661499723792,
                        "pitch": 0.3811928331851959,
                        "yaw": 179.59725952148438
                    }
                },
                "velocity": {
                    "x": -9.083169937133789,
                    "y": 0.06183677911758423,
                    "z": 0.05324767902493477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.784947395324707,
                "transform": {
                    "location": {
                        "x": 707.9443359375,
                        "y": 4290.10595703125,
                        "z": 369.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0032203232403844595,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -5.7848381996154785,
                    "y": 0.011887063272297382,
                    "z": 0.033511266112327576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.321105003356934,
                "transform": {
                    "location": {
                        "x": 689.9263916015625,
                        "y": 4290.1982421875,
                        "z": 369.73681640625
                    },
                    "rotation": {
                        "roll": 0.0034366215113550425,
                        "pitch": 0.3260185718536377,
                        "yaw": 179.79371643066406
                    }
                },
                "velocity": {
                    "x": -8.320910453796387,
                    "y": 0.030141456052660942,
                    "z": 0.048352841287851334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3240308165550232,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05295315384864807,
        "expert_target_speed": 9.57863704450367,
        "target_point": [
            37.600057030087925,
            0.29913269966337336
        ],
        "target_point_next": [
            88.59899338872685,
            0.6249625847697243
        ]
    },
    "80": {
        "acceleration": [
            -1.2053108215332031,
            0.05279123783111572,
            0.017102062702178955
        ],
        "angular_velocity": [
            0.016758257523179054,
            -0.31493985652923584,
            -0.21856378018856049
        ],
        "forward_vector": [
            -0.9998692870140076,
            0.013237861916422844,
            0.00928245484828949
        ],
        "right_vector": [
            -0.013240190222859383,
            -0.9999123811721802,
            -0.00018938326684292406
        ],
        "location": [
            716.6370239257812,
            4286.95703125,
            369.5845947265625
        ],
        "rotation": [
            0.010851330123841763,
            0.5318531394004822,
            179.24147033691406
        ],
        "velocity": [
            -10.137359619140625,
            0.1368594467639923,
            0.057755593210458755
        ],
        "speed": 10.138283412686366,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.95466423034668,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                699.6828002929688,
                4286.88525390625,
                369.68353271484375
            ],
            "velocity": [
                -7.630046844482422,
                0.03787655383348465,
                0.04488753154873848
            ],
            "speed_kmh": 27.468982403279565,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 643.0322265625,
                        "y": 4297.06689453125,
                        "z": 370.1112365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 643.0130004882812,
                        "y": 4293.81689453125,
                        "z": 370.1112365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.014342308044434,
                "transform": {
                    "location": {
                        "x": 683.8477172851562,
                        "y": 4296.923828125,
                        "z": 369.7733459472656
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.3235187232494354,
                        "yaw": -0.3099364638328552
                    }
                },
                "velocity": {
                    "x": 8.014090538024902,
                    "y": -0.044663093984127045,
                    "z": -0.045173101127147675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.089156150817871,
                "transform": {
                    "location": {
                        "x": 684.2617797851562,
                        "y": 4293.671875,
                        "z": 369.7803039550781
                    },
                    "rotation": {
                        "roll": 0.0003371523634996265,
                        "pitch": -0.32552680373191833,
                        "yaw": -0.3105162978172302
                    }
                },
                "velocity": {
                    "x": 8.088909149169922,
                    "y": -0.04449471831321716,
                    "z": -0.044888757169246674
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9243655800819397,
                "transform": {
                    "location": {
                        "x": 754.25390625,
                        "y": 4286.09033203125,
                        "z": 369.364013671875
                    },
                    "rotation": {
                        "roll": 0.0007539603393524885,
                        "pitch": 0.34973981976509094,
                        "yaw": 177.4320831298828
                    }
                },
                "velocity": {
                    "x": -0.9234346747398376,
                    "y": 0.04131482541561127,
                    "z": 0.00363750453107059
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.024699211120605,
                "transform": {
                    "location": {
                        "x": 737.814697265625,
                        "y": 4286.61767578125,
                        "z": 369.4679260253906
                    },
                    "rotation": {
                        "roll": -0.006896973587572575,
                        "pitch": 0.6319358944892883,
                        "yaw": 179.405029296875
                    }
                },
                "velocity": {
                    "x": -8.024056434631348,
                    "y": 0.09006358683109283,
                    "z": 0.046909790486097336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.63027286529541,
                "transform": {
                    "location": {
                        "x": 699.6828002929688,
                        "y": 4286.88525390625,
                        "z": 369.68353271484375
                    },
                    "rotation": {
                        "roll": 0.00840528029948473,
                        "pitch": 0.3486538231372833,
                        "yaw": 179.7407684326172
                    }
                },
                "velocity": {
                    "x": -7.630046844482422,
                    "y": 0.03787655383348465,
                    "z": 0.04488753154873848
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990671157836914,
                "transform": {
                    "location": {
                        "x": 682.8516235351562,
                        "y": 4286.98388671875,
                        "z": 369.81793212890625
                    },
                    "rotation": {
                        "roll": 0.0019212125334888697,
                        "pitch": 0.31877174973487854,
                        "yaw": 179.69639587402344
                    }
                },
                "velocity": {
                    "x": -7.990418434143066,
                    "y": 0.04499863088130951,
                    "z": 0.044889897108078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158992290496826,
                "transform": {
                    "location": {
                        "x": 741.7195434570312,
                        "y": 4289.77001953125,
                        "z": 369.4459533691406
                    },
                    "rotation": {
                        "roll": 0.00854930654168129,
                        "pitch": 0.5076674222946167,
                        "yaw": 178.62953186035156
                    }
                },
                "velocity": {
                    "x": -7.157318592071533,
                    "y": 0.14924389123916626,
                    "z": 0.04108292609453201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.212000846862793,
                "transform": {
                    "location": {
                        "x": 725.830078125,
                        "y": 4289.97119140625,
                        "z": 369.5400390625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.3198167681694031,
                        "yaw": 179.61004638671875
                    }
                },
                "velocity": {
                    "x": -9.211638450622559,
                    "y": 0.06272909045219421,
                    "z": 0.052305515855550766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.23661994934082,
                "transform": {
                    "location": {
                        "x": 706.11279296875,
                        "y": 4290.10986328125,
                        "z": 369.6832580566406
                    },
                    "rotation": {
                        "roll": 0.003220394952222705,
                        "pitch": 0.5364293456077576,
                        "yaw": 179.88633728027344
                    }
                },
                "velocity": {
                    "x": -8.23646068572998,
                    "y": 0.020548641681671143,
                    "z": 0.04693760722875595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994510173797607,
                "transform": {
                    "location": {
                        "x": 687.8917846679688,
                        "y": 4290.20556640625,
                        "z": 369.74859619140625
                    },
                    "rotation": {
                        "roll": 0.003338657086715102,
                        "pitch": 0.31395646929740906,
                        "yaw": 179.7315216064453
                    }
                },
                "velocity": {
                    "x": -7.994303226470947,
                    "y": 0.03665781766176224,
                    "z": 0.0443137064576149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0690024346113205,
        "expert_target_speed": 9.696899254043883,
        "target_point": [
            35.098577649812405,
            0.333317624851586
        ],
        "target_point_next": [
            86.09718792666293,
            0.7067137368413277
        ]
    },
    "85": {
        "acceleration": [
            -0.7086944580078125,
            0.046159327030181885,
            0.013567507266998291
        ],
        "angular_velocity": [
            0.04502278193831444,
            -0.15804843604564667,
            -0.2186533510684967
        ],
        "forward_vector": [
            -0.9998646974563599,
            0.014191526919603348,
            0.008314871229231358
        ],
        "right_vector": [
            -0.014193763025105,
            -0.9998992681503296,
            -0.00020992307690903544
        ],
        "location": [
            714.0748291015625,
            4286.9931640625,
            369.59954833984375
        ],
        "rotation": [
            0.012028122320771217,
            0.47641250491142273,
            179.18682861328125
        ],
        "velocity": [
            -10.356645584106445,
            0.1495310515165329,
            0.06104569137096405
        ],
        "speed": 10.357725005528925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.325828552246094,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                697.7495727539062,
                4286.89501953125,
                369.69464111328125
            ],
            "velocity": [
                -7.775359153747559,
                0.041829586029052734,
                0.044720686972141266
            ],
            "speed_kmh": 27.992160987059226,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 645.1137084960938,
                        "y": 4297.0546875,
                        "z": 370.02789306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 645.094482421875,
                        "y": 4293.8046875,
                        "z": 370.02789306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.12450122833252,
                "transform": {
                    "location": {
                        "x": 685.8694458007812,
                        "y": 4296.91259765625,
                        "z": 369.7619323730469
                    },
                    "rotation": {
                        "roll": 0.0010046839015558362,
                        "pitch": -0.32217317819595337,
                        "yaw": -0.3193359375
                    }
                },
                "velocity": {
                    "x": 8.124242782592773,
                    "y": -0.046149540692567825,
                    "z": -0.04550855979323387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.316479682922363,
                "transform": {
                    "location": {
                        "x": 686.3136596679688,
                        "y": 4293.66015625,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.32378509640693665,
                        "yaw": -0.3140563666820526
                    }
                },
                "velocity": {
                    "x": 8.3162260055542,
                    "y": -0.0454833023250103,
                    "z": -0.04634561389684677
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7008605003356934,
                "transform": {
                    "location": {
                        "x": 753.9299926757812,
                        "y": 4286.1044921875,
                        "z": 369.36572265625
                    },
                    "rotation": {
                        "roll": 0.001187547342851758,
                        "pitch": 0.3594045341014862,
                        "yaw": 177.40113830566406
                    }
                },
                "velocity": {
                    "x": -1.699156641960144,
                    "y": 0.07545455545186996,
                    "z": 0.009988422505557537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.647894859313965,
                "transform": {
                    "location": {
                        "x": 735.5812377929688,
                        "y": 4286.6416015625,
                        "z": 369.4806823730469
                    },
                    "rotation": {
                        "roll": -0.006988523993641138,
                        "pitch": 0.6806351542472839,
                        "yaw": 179.40475463867188
                    }
                },
                "velocity": {
                    "x": -9.647209167480469,
                    "y": 0.10009048879146576,
                    "z": 0.056657664477825165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.775600433349609,
                "transform": {
                    "location": {
                        "x": 697.7495727539062,
                        "y": 4286.89501953125,
                        "z": 369.69464111328125
                    },
                    "rotation": {
                        "roll": 0.005960946902632713,
                        "pitch": 0.3814455568790436,
                        "yaw": 179.69076538085938
                    }
                },
                "velocity": {
                    "x": -7.775359153747559,
                    "y": 0.041829586029052734,
                    "z": 0.044720686972141266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027848243713379,
                "transform": {
                    "location": {
                        "x": 680.8530883789062,
                        "y": 4286.99462890625,
                        "z": 369.8291320800781
                    },
                    "rotation": {
                        "roll": 0.0008148120250552893,
                        "pitch": 0.3209983706474304,
                        "yaw": 179.69068908691406
                    }
                },
                "velocity": {
                    "x": -8.027603149414062,
                    "y": 0.043242715299129486,
                    "z": 0.04542918875813484
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.008267402648926,
                "transform": {
                    "location": {
                        "x": 739.9762573242188,
                        "y": 4289.806640625,
                        "z": 369.4570617675781
                    },
                    "rotation": {
                        "roll": 0.0015921450685709715,
                        "pitch": 0.3816094696521759,
                        "yaw": 178.73562622070312
                    }
                },
                "velocity": {
                    "x": -7.006647109985352,
                    "y": 0.1451372653245926,
                    "z": 0.04050667583942413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.455351829528809,
                "transform": {
                    "location": {
                        "x": 723.64453125,
                        "y": 4289.9853515625,
                        "z": 369.55206298828125
                    },
                    "rotation": {
                        "roll": 0.0008230864186771214,
                        "pitch": 0.39649927616119385,
                        "yaw": 179.6166229248047
                    }
                },
                "velocity": {
                    "x": -8.455022811889648,
                    "y": 0.05648638680577278,
                    "z": 0.04881511628627777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.854135513305664,
                "transform": {
                    "location": {
                        "x": 704.0697021484375,
                        "y": 4290.11669921875,
                        "z": 369.6966247558594
                    },
                    "rotation": {
                        "roll": 0.0046497369185090065,
                        "pitch": 0.3590288758277893,
                        "yaw": 179.7961883544922
                    }
                },
                "velocity": {
                    "x": -7.853929042816162,
                    "y": 0.032934851944446564,
                    "z": 0.04645966365933418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948360443115234,
                "transform": {
                    "location": {
                        "x": 685.904052734375,
                        "y": 4290.21484375,
                        "z": 369.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00039386158459819853,
                        "pitch": 0.32000118494033813,
                        "yaw": 179.69664001464844
                    }
                },
                "velocity": {
                    "x": -7.948129653930664,
                    "y": 0.0401029996573925,
                    "z": 0.045407600700855255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08059490472078323,
        "expert_target_speed": 9.783212983957439,
        "target_point": [
            32.535794058936126,
            0.36657308316540316
        ],
        "target_point_next": [
            83.53402484483128,
            0.7886294006268249
        ]
    },
    "90": {
        "acceleration": [
            -0.6346321105957031,
            0.0536036491394043,
            -0.0148782879114151
        ],
        "angular_velocity": [
            0.05373809486627579,
            -0.14535965025424957,
            -0.22489836812019348
        ],
        "forward_vector": [
            -0.9998552203178406,
            0.015162539668381214,
            0.007721466012299061
        ],
        "right_vector": [
            -0.015164620243012905,
            -0.9998850226402283,
            -0.00021091761300340295
        ],
        "location": [
            711.459228515625,
            4287.03173828125,
            369.614990234375
        ],
        "rotation": [
            0.012085049413144588,
            0.4424118101596832,
            179.13119506835938
        ],
        "velocity": [
            -10.536160469055176,
            0.1624838411808014,
            0.06061183661222458
        ],
        "speed": 10.537413270263526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.97178649902344,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.092290878295898,
                "transform": {
                    "location": {
                        "x": 647.1392822265625,
                        "y": 4297.05908203125,
                        "z": 369.9826354980469
                    },
                    "rotation": {
                        "roll": -0.0203552208840847,
                        "pitch": -0.320520281791687,
                        "yaw": 0.16888412833213806
                    }
                },
                "velocity": {
                    "x": 8.091809272766113,
                    "y": 0.0240272656083107,
                    "z": -0.0849209874868393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038716316223145,
                "transform": {
                    "location": {
                        "x": 647.126953125,
                        "y": 4293.8095703125,
                        "z": 369.9838562011719
                    },
                    "rotation": {
                        "roll": -0.02471923828125,
                        "pitch": -0.3268723487854004,
                        "yaw": 0.14359211921691895
                    }
                },
                "velocity": {
                    "x": 8.038253784179688,
                    "y": 0.02406284771859646,
                    "z": -0.08280635625123978
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02994155883789,
                "transform": {
                    "location": {
                        "x": 687.8881225585938,
                        "y": 4296.900390625,
                        "z": 369.7506103515625
                    },
                    "rotation": {
                        "roll": 0.00020122939895372838,
                        "pitch": -0.3253423869609833,
                        "yaw": -0.3233642280101776
                    }
                },
                "velocity": {
                    "x": 8.029688835144043,
                    "y": -0.04525638371706009,
                    "z": -0.044830627739429474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.098991394042969,
                "transform": {
                    "location": {
                        "x": 688.3643798828125,
                        "y": 4293.6484375,
                        "z": 369.75714111328125
                    },
                    "rotation": {
                        "roll": 0.001682520960457623,
                        "pitch": -0.3272343575954437,
                        "yaw": -0.3240050971508026
                    }
                },
                "velocity": {
                    "x": 8.098736763000488,
                    "y": -0.0457557812333107,
                    "z": -0.04517360404133797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4326863288879395,
                "transform": {
                    "location": {
                        "x": 753.4105224609375,
                        "y": 4286.1259765625,
                        "z": 369.368896484375
                    },
                    "rotation": {
                        "roll": 0.0012529173400253057,
                        "pitch": 0.3591245114803314,
                        "yaw": 177.47740173339844
                    }
                },
                "velocity": {
                    "x": -2.4307844638824463,
                    "y": 0.09510057419538498,
                    "z": 0.014314336702227592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.42553997039795,
                "transform": {
                    "location": {
                        "x": 733.0938720703125,
                        "y": 4286.6669921875,
                        "z": 369.49639892578125
                    },
                    "rotation": {
                        "roll": -0.006164550315588713,
                        "pitch": 0.5353296995162964,
                        "yaw": 179.42767333984375
                    }
                },
                "velocity": {
                    "x": -10.42492389678955,
                    "y": 0.0954585149884224,
                    "z": 0.061154384166002274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562948226928711,
                "transform": {
                    "location": {
                        "x": 738.1469116210938,
                        "y": 4289.84228515625,
                        "z": 369.468505859375
                    },
                    "rotation": {
                        "roll": 0.011544199660420418,
                        "pitch": 0.2880631983280182,
                        "yaw": 178.93324279785156
                    }
                },
                "velocity": {
                    "x": -7.562106609344482,
                    "y": 0.10376167297363281,
                    "z": 0.04434685781598091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.842374801635742,
                "transform": {
                    "location": {
                        "x": 721.4984741210938,
                        "y": 4289.99951171875,
                        "z": 369.5653076171875
                    },
                    "rotation": {
                        "roll": 0.0014309175312519073,
                        "pitch": 0.3066140115261078,
                        "yaw": 179.6208038330078
                    }
                },
                "velocity": {
                    "x": -8.842036247253418,
                    "y": 0.05849743261933327,
                    "z": 0.05058738589286804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.372637748718262,
                "transform": {
                    "location": {
                        "x": 702.1864013671875,
                        "y": 4290.12451171875,
                        "z": 369.7081604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2924276888370514,
                        "yaw": 179.7560577392578
                    }
                },
                "velocity": {
                    "x": -7.372439861297607,
                    "y": 0.03348793461918831,
                    "z": 0.04241015389561653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.980844497680664,
                "transform": {
                    "location": {
                        "x": 683.91357421875,
                        "y": 4290.22509765625,
                        "z": 369.77081298828125
                    },
                    "rotation": {
                        "roll": 0.00016118580242618918,
                        "pitch": 0.32426321506500244,
                        "yaw": 179.6807403564453
                    }
                },
                "velocity": {
                    "x": -7.980599403381348,
                    "y": 0.043930087238550186,
                    "z": 0.0445062629878521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09952811151742935,
        "expert_target_speed": 10.0,
        "target_point": [
            29.919538057252527,
            0.39706985125417027
        ],
        "target_point_next": [
            80.91733506015552,
            0.8686371075719086
        ]
    },
    "95": {
        "acceleration": [
            -0.18253326416015625,
            0.04502832889556885,
            0.00165596604347229
        ],
        "angular_velocity": [
            -0.036764565855264664,
            -0.12198781222105026,
            -0.2265177220106125
        ],
        "forward_vector": [
            -0.9998446702957153,
            0.016147851943969727,
            0.00705987261608243
        ],
        "right_vector": [
            -0.0161496102809906,
            -0.9998695850372314,
            -0.0001920292852446437
        ],
        "location": [
            708.8156127929688,
            4287.07373046875,
            369.6304931640625
        ],
        "rotation": [
            0.011002741754055023,
            0.40450426936149597,
            179.07473754882812
        ],
        "velocity": [
            -10.61616039276123,
            0.17405185103416443,
            0.060916729271411896
        ],
        "speed": 10.617587086135941,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 66.32888793945312,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107980728149414,
                "transform": {
                    "location": {
                        "x": 649.1644287109375,
                        "y": 4297.0654296875,
                        "z": 369.9673767089844
                    },
                    "rotation": {
                        "roll": -0.007293699309229851,
                        "pitch": -0.31033647060394287,
                        "yaw": 0.19362100958824158
                    }
                },
                "velocity": {
                    "x": 8.107779502868652,
                    "y": 0.027383219450712204,
                    "z": -0.050207726657390594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.223816871643066,
                "transform": {
                    "location": {
                        "x": 649.1610107421875,
                        "y": 4293.8154296875,
                        "z": 369.9688720703125
                    },
                    "rotation": {
                        "roll": -0.009613037109375,
                        "pitch": -0.3066413402557373,
                        "yaw": 0.17627231776714325
                    }
                },
                "velocity": {
                    "x": 8.223626136779785,
                    "y": 0.025203410536050797,
                    "z": -0.05001170188188553
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086562156677246,
                "transform": {
                    "location": {
                        "x": 689.9013671875,
                        "y": 4296.88916015625,
                        "z": 369.7391662597656
                    },
                    "rotation": {
                        "roll": 7.555366028100252e-05,
                        "pitch": -0.32439982891082764,
                        "yaw": -0.3237304985523224
                    }
                },
                "velocity": {
                    "x": 8.0863037109375,
                    "y": -0.045679062604904175,
                    "z": -0.045874230563640594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.325725555419922,
                "transform": {
                    "location": {
                        "x": 690.4185791015625,
                        "y": 4293.63671875,
                        "z": 369.7454528808594
                    },
                    "rotation": {
                        "roll": 0.00029192963847890496,
                        "pitch": -0.32388073205947876,
                        "yaw": -0.330718994140625
                    }
                },
                "velocity": {
                    "x": 8.325456619262695,
                    "y": -0.04796619713306427,
                    "z": -0.04674916714429855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2060320377349854,
                "transform": {
                    "location": {
                        "x": 752.6989135742188,
                        "y": 4286.15478515625,
                        "z": 369.37310791015625
                    },
                    "rotation": {
                        "roll": 0.0003678301291074604,
                        "pitch": 0.3565358519554138,
                        "yaw": 177.57656860351562
                    }
                },
                "velocity": {
                    "x": -3.2035624980926514,
                    "y": 0.1244090348482132,
                    "z": 0.01873217523097992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.5712251663208,
                "transform": {
                    "location": {
                        "x": 730.4500732421875,
                        "y": 4286.68994140625,
                        "z": 369.51287841796875
                    },
                    "rotation": {
                        "roll": -0.014068604446947575,
                        "pitch": 0.40631428360939026,
                        "yaw": 179.5459442138672
                    }
                },
                "velocity": {
                    "x": -10.570734977722168,
                    "y": 0.08185573667287827,
                    "z": 0.06058863550424576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.262516021728516,
                "transform": {
                    "location": {
                        "x": 736.064453125,
                        "y": 4289.87158203125,
                        "z": 369.48162841796875
                    },
                    "rotation": {
                        "roll": 0.004486582707613707,
                        "pitch": 0.17194317281246185,
                        "yaw": 179.18435668945312
                    }
                },
                "velocity": {
                    "x": -9.261606216430664,
                    "y": 0.11840005964040756,
                    "z": 0.053243111819028854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.875516891479492,
                "transform": {
                    "location": {
                        "x": 719.2364501953125,
                        "y": 4290.013671875,
                        "z": 369.5782470703125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.3262166380882263,
                        "yaw": 179.6324462890625
                    }
                },
                "velocity": {
                    "x": -8.8751802444458,
                    "y": 0.05692518502473831,
                    "z": 0.052333228290081024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.994613170623779,
                "transform": {
                    "location": {
                        "x": 700.2837524414062,
                        "y": 4290.13232421875,
                        "z": 369.7184753417969
                    },
                    "rotation": {
                        "roll": 0.0011138066183775663,
                        "pitch": 0.37463584542274475,
                        "yaw": 179.73477172851562
                    }
                },
                "velocity": {
                    "x": -7.994379043579102,
                    "y": 0.04109852761030197,
                    "z": 0.04536132887005806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.042658805847168,
                "transform": {
                    "location": {
                        "x": 681.9088745117188,
                        "y": 4290.23681640625,
                        "z": 369.7821350097656
                    },
                    "rotation": {
                        "roll": 4.290717697585933e-06,
                        "pitch": 0.3220843970775604,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -8.042407035827637,
                    "y": 0.04505163058638573,
                    "z": 0.04497278109192848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11332113295793533,
        "expert_target_speed": 10.0,
        "target_point": [
            27.275183248796623,
            0.42584274728831883
        ],
        "target_point_next": [
            78.27249094240211,
            0.9476500203872271
        ]
    },
    "100": {
        "acceleration": [
            -0.5071640014648438,
            0.052296221256256104,
            -0.00015817582607269287
        ],
        "angular_velocity": [
            -0.0152590898796916,
            -0.030729038640856743,
            -0.23174387216567993
        ],
        "forward_vector": [
            -0.9998297691345215,
            0.017141208052635193,
            0.006827658507972956
        ],
        "right_vector": [
            -0.01714296080172062,
            -0.9998530745506287,
            -0.00019826515926979482
        ],
        "location": [
            706.1473999023438,
            4287.11865234375,
            369.6460876464844
        ],
        "rotation": [
            0.011360022239387035,
            0.3911990523338318,
            179.01780700683594
        ],
        "velocity": [
            -10.718124389648438,
            0.1863422691822052,
            0.06082833930850029
        ],
        "speed": 10.719744114168988,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 63.661521911621094,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08637809753418,
                "transform": {
                    "location": {
                        "x": 651.1885986328125,
                        "y": 4297.0712890625,
                        "z": 369.9559326171875
                    },
                    "rotation": {
                        "roll": -0.005676269996911287,
                        "pitch": -0.3076726794242859,
                        "yaw": 0.18990208208560944
                    }
                },
                "velocity": {
                    "x": 8.086209297180176,
                    "y": 0.026890214532613754,
                    "z": -0.04472461715340614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039557456970215,
                "transform": {
                    "location": {
                        "x": 651.1928100585938,
                        "y": 4293.8212890625,
                        "z": 369.95745849609375
                    },
                    "rotation": {
                        "roll": -0.004302978515625,
                        "pitch": -0.30983784794807434,
                        "yaw": 0.17658691108226776
                    }
                },
                "velocity": {
                    "x": 8.039397239685059,
                    "y": 0.024929873645305634,
                    "z": -0.04436361789703369
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05971622467041,
                "transform": {
                    "location": {
                        "x": 691.9210815429688,
                        "y": 4296.876953125,
                        "z": 369.7276611328125
                    },
                    "rotation": {
                        "roll": 0.0008318768814206123,
                        "pitch": -0.3269338309764862,
                        "yaw": -0.3236999213695526
                    }
                },
                "velocity": {
                    "x": 8.059460639953613,
                    "y": -0.04551324248313904,
                    "z": -0.04528680071234703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.108440399169922,
                "transform": {
                    "location": {
                        "x": 692.4716796875,
                        "y": 4293.625,
                        "z": 369.73382568359375
                    },
                    "rotation": {
                        "roll": -0.0001525879924884066,
                        "pitch": -0.3303557336330414,
                        "yaw": -0.3316650092601776
                    }
                },
                "velocity": {
                    "x": 8.10817813873291,
                    "y": -0.046931300312280655,
                    "z": -0.04521365836262703
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9177651405334473,
                "transform": {
                    "location": {
                        "x": 751.8060913085938,
                        "y": 4286.18994140625,
                        "z": 369.37841796875
                    },
                    "rotation": {
                        "roll": 0.001100677065551281,
                        "pitch": 0.35495808720588684,
                        "yaw": 177.66140747070312
                    }
                },
                "velocity": {
                    "x": -3.9147748947143555,
                    "y": 0.15129627287387848,
                    "z": 0.023073624819517136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.169355392456055,
                "transform": {
                    "location": {
                        "x": 727.8577270507812,
                        "y": 4286.70947265625,
                        "z": 369.5291748046875
                    },
                    "rotation": {
                        "roll": -0.006805419921875,
                        "pitch": 0.23066914081573486,
                        "yaw": 179.61154174804688
                    }
                },
                "velocity": {
                    "x": -10.168935775756836,
                    "y": 0.06981176882982254,
                    "z": 0.06047489121556282
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.65839958190918,
                "transform": {
                    "location": {
                        "x": 733.7857666015625,
                        "y": 4289.900390625,
                        "z": 369.4934387207031
                    },
                    "rotation": {
                        "roll": 0.0003653347084764391,
                        "pitch": 0.3482440114021301,
                        "yaw": 179.29029846191406
                    }
                },
                "velocity": {
                    "x": -8.65760326385498,
                    "y": 0.10566045343875885,
                    "z": 0.051287926733493805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.610489368438721,
                "transform": {
                    "location": {
                        "x": 717.1376953125,
                        "y": 4290.02685546875,
                        "z": 369.5897521972656
                    },
                    "rotation": {
                        "roll": 0.00098962162155658,
                        "pitch": 0.41709232330322266,
                        "yaw": 179.64297485351562
                    }
                },
                "velocity": {
                    "x": -7.610213279724121,
                    "y": 0.04731391370296478,
                    "z": 0.044329822063446045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049646377563477,
                "transform": {
                    "location": {
                        "x": 698.236328125,
                        "y": 4290.14306640625,
                        "z": 369.73040771484375
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": 0.3470555543899536,
                        "yaw": 179.7047119140625
                    }
                },
                "velocity": {
                    "x": -8.049386978149414,
                    "y": 0.04369238391518593,
                    "z": 0.04767976701259613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.993278503417969,
                "transform": {
                    "location": {
                        "x": 679.9044189453125,
                        "y": 4290.24853515625,
                        "z": 369.79327392578125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.3199465274810791,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -7.993009567260742,
                    "y": 0.04706807807087898,
                    "z": 0.04560408368706703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13696271181106567,
        "expert_target_speed": 10.0,
        "target_point": [
            24.606155721328186,
            0.45212491529634863
        ],
        "target_point_next": [
            75.60291970035634,
            1.0246094075136774
        ]
    },
    "105": {
        "acceleration": [
            0.5036163330078125,
            0.032090842723846436,
            -0.005816817283630371
        ],
        "angular_velocity": [
            -0.0007405852084048092,
            -0.2323262095451355,
            -0.22956152260303497
        ],
        "forward_vector": [
            -0.9998151659965515,
            0.018139582127332687,
            0.0063650174997746944
        ],
        "right_vector": [
            -0.018141167238354683,
            -0.9998354315757751,
            -0.00019135493494104594
        ],
        "location": [
            703.4656372070312,
            4287.16650390625,
            369.6617126464844
        ],
        "rotation": [
            0.010964051820337772,
            0.3646911084651947,
            178.96060180664062
        ],
        "velocity": [
            -10.711149215698242,
            0.19683319330215454,
            0.0609854981303215
        ],
        "speed": 10.712957613420235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 60.98077392578125,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.101363182067871,
                "transform": {
                    "location": {
                        "x": 653.2120971679688,
                        "y": 4297.07373046875,
                        "z": 369.9450378417969
                    },
                    "rotation": {
                        "roll": 0.006749029271304607,
                        "pitch": -0.3071194291114807,
                        "yaw": 0.04085373505949974
                    }
                },
                "velocity": {
                    "x": 8.101243019104004,
                    "y": -0.00041619682451710105,
                    "z": -0.04414282739162445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.222421646118164,
                "transform": {
                    "location": {
                        "x": 653.2265014648438,
                        "y": 4293.8232421875,
                        "z": 369.9465026855469
                    },
                    "rotation": {
                        "roll": 0.008438942953944206,
                        "pitch": -0.3039843738079071,
                        "yaw": 0.04545944929122925
                    }
                },
                "velocity": {
                    "x": 8.22230339050293,
                    "y": -0.002089553512632847,
                    "z": -0.0440833605825901
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.076595306396484,
                "transform": {
                    "location": {
                        "x": 693.9373168945312,
                        "y": 4296.86572265625,
                        "z": 369.7161560058594
                    },
                    "rotation": {
                        "roll": 0.00032359271426685154,
                        "pitch": -0.32824522256851196,
                        "yaw": -0.3262633979320526
                    }
                },
                "velocity": {
                    "x": 8.076342582702637,
                    "y": -0.04601261392235756,
                    "z": -0.044309455901384354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.33074951171875,
                "transform": {
                    "location": {
                        "x": 694.5276489257812,
                        "y": 4293.61376953125,
                        "z": 369.72210693359375
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -0.32821789383888245,
                        "yaw": -0.3352966010570526
                    }
                },
                "velocity": {
                    "x": 8.330471992492676,
                    "y": -0.04878748953342438,
                    "z": -0.047305021435022354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.650042533874512,
                "transform": {
                    "location": {
                        "x": 750.7329711914062,
                        "y": 4286.23193359375,
                        "z": 369.38482666015625
                    },
                    "rotation": {
                        "roll": 0.0005713663995265961,
                        "pitch": 0.35488978028297424,
                        "yaw": 177.72328186035156
                    }
                },
                "velocity": {
                    "x": -4.646523475646973,
                    "y": 0.17899583280086517,
                    "z": 0.025984840467572212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.289484024047852,
                "transform": {
                    "location": {
                        "x": 725.314453125,
                        "y": 4286.7265625,
                        "z": 369.54351806640625
                    },
                    "rotation": {
                        "roll": -0.004211424849927425,
                        "pitch": 0.317583292722702,
                        "yaw": 179.6393280029297
                    }
                },
                "velocity": {
                    "x": -10.289093971252441,
                    "y": 0.06610997021198273,
                    "z": 0.06040539592504501
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.487825393676758,
                "transform": {
                    "location": {
                        "x": 731.7844848632812,
                        "y": 4289.919921875,
                        "z": 369.5043640136719
                    },
                    "rotation": {
                        "roll": 0.002524695359170437,
                        "pitch": 0.43687936663627625,
                        "yaw": 179.40823364257812
                    }
                },
                "velocity": {
                    "x": -7.48743200302124,
                    "y": 0.06259938329458237,
                    "z": 0.04447212070226669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.864996433258057,
                "transform": {
                    "location": {
                        "x": 715.3882446289062,
                        "y": 4290.0380859375,
                        "z": 369.59991455078125
                    },
                    "rotation": {
                        "roll": 0.00015040041762404144,
                        "pitch": 0.41893646121025085,
                        "yaw": 179.64414978027344
                    }
                },
                "velocity": {
                    "x": -6.864744186401367,
                    "y": 0.042671818286180496,
                    "z": 0.04051797837018967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4196038246154785,
                "transform": {
                    "location": {
                        "x": 696.3170166015625,
                        "y": 4290.15283203125,
                        "z": 369.7419738769531
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.28213462233543396,
                        "yaw": 179.69668579101562
                    }
                },
                "velocity": {
                    "x": -7.419368267059326,
                    "y": 0.03944949060678482,
                    "z": 0.04407484084367752
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015787124633789,
                "transform": {
                    "location": {
                        "x": 677.903564453125,
                        "y": 4290.259765625,
                        "z": 369.8044128417969
                    },
                    "rotation": {
                        "roll": 0.00015343597624450922,
                        "pitch": 0.3181092143058777,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -8.015523910522461,
                    "y": 0.04709956422448158,
                    "z": 0.04458849877119064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15651926398277283,
        "expert_target_speed": 10.0,
        "target_point": [
            21.92350255326106,
            0.47589094648874214
        ],
        "target_point_next": [
            72.91966948654105,
            1.099295261178329
        ]
    },
    "110": {
        "acceleration": [
            0.6940841674804688,
            -0.25746166706085205,
            0.018206089735031128
        ],
        "angular_velocity": [
            -0.2638356387615204,
            -0.2336716204881668,
            0.9244875907897949
        ],
        "forward_vector": [
            -0.9998263716697693,
            0.0178619846701622,
            0.005308483261615038
        ],
        "right_vector": [
            -0.01786082051694393,
            -0.9998403787612915,
            0.00026631233049556613
        ],
        "location": [
            700.806396484375,
            4287.21435546875,
            369.67724609375
        ],
        "rotation": [
            -0.015258788131177425,
            0.3041551411151886,
            178.9765167236328
        ],
        "velocity": [
            -10.548782348632812,
            0.17276258766651154,
            0.06115792319178581
        ],
        "speed": 10.55019696264124,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 58.32267379760742,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.895495414733887,
                "transform": {
                    "location": {
                        "x": 655.232666015625,
                        "y": 4297.07177734375,
                        "z": 369.9342346191406
                    },
                    "rotation": {
                        "roll": 0.006620091386139393,
                        "pitch": -0.3164972960948944,
                        "yaw": -0.0717162936925888
                    }
                },
                "velocity": {
                    "x": 7.8953680992126465,
                    "y": -0.011655800975859165,
                    "z": -0.04324552044272423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037490844726562,
                "transform": {
                    "location": {
                        "x": 655.2581787109375,
                        "y": 4293.8212890625,
                        "z": 369.9356689453125
                    },
                    "rotation": {
                        "roll": 0.006391501519829035,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.0631713792681694
                    }
                },
                "velocity": {
                    "x": 8.03736400604248,
                    "y": -0.011974982917308807,
                    "z": -0.0436113215982914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056053161621094,
                "transform": {
                    "location": {
                        "x": 695.9537353515625,
                        "y": 4296.853515625,
                        "z": 369.70465087890625
                    },
                    "rotation": {
                        "roll": 0.0005074043874628842,
                        "pitch": -0.32821789383888245,
                        "yaw": -0.3266601264476776
                    }
                },
                "velocity": {
                    "x": 8.055792808532715,
                    "y": -0.04588532820343971,
                    "z": -0.04571643844246864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109638214111328,
                "transform": {
                    "location": {
                        "x": 696.5814208984375,
                        "y": 4293.6015625,
                        "z": 369.7104187011719
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.33599853515625
                    }
                },
                "velocity": {
                    "x": 8.109359741210938,
                    "y": -0.047533322125673294,
                    "z": -0.04755697771906853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2596049308776855,
                "transform": {
                    "location": {
                        "x": 749.4755249023438,
                        "y": 4286.28076171875,
                        "z": 369.392333984375
                    },
                    "rotation": {
                        "roll": -0.002349852817133069,
                        "pitch": 0.3537764549255371,
                        "yaw": 177.73492431640625
                    }
                },
                "velocity": {
                    "x": -5.255626678466797,
                    "y": 0.20190255343914032,
                    "z": 0.032697372138500214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.474300384521484,
                "transform": {
                    "location": {
                        "x": 722.7042236328125,
                        "y": 4286.7431640625,
                        "z": 369.55792236328125
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.408172070980072,
                        "yaw": 179.64186096191406
                    }
                },
                "velocity": {
                    "x": -10.473916053771973,
                    "y": 0.06608587503433228,
                    "z": 0.06061870604753494
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3279523849487305,
                "transform": {
                    "location": {
                        "x": 730.2030029296875,
                        "y": 4289.935546875,
                        "z": 369.5129089355469
                    },
                    "rotation": {
                        "roll": 0.0026329574175179005,
                        "pitch": 0.5239301323890686,
                        "yaw": 179.84439086914062
                    }
                },
                "velocity": {
                    "x": -5.3277268409729,
                    "y": 0.03756173327565193,
                    "z": 0.031500328332185745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.336568832397461,
                "transform": {
                    "location": {
                        "x": 713.6275024414062,
                        "y": 4290.048828125,
                        "z": 369.6112060546875
                    },
                    "rotation": {
                        "roll": 0.0009023366728797555,
                        "pitch": 0.30008435249328613,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -7.336308002471924,
                    "y": 0.04530860483646393,
                    "z": 0.04214072227478027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003297805786133,
                "transform": {
                    "location": {
                        "x": 694.4104614257812,
                        "y": 4290.1630859375,
                        "z": 369.7522888183594
                    },
                    "rotation": {
                        "roll": 0.00034147771657444537,
                        "pitch": 0.35969141125679016,
                        "yaw": 179.68365478515625
                    }
                },
                "velocity": {
                    "x": -8.003031730651855,
                    "y": 0.04593057557940483,
                    "z": 0.04629265516996384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988117218017578,
                "transform": {
                    "location": {
                        "x": 675.9033203125,
                        "y": 4290.27197265625,
                        "z": 369.81549072265625
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.316838800907135,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -7.987852096557617,
                    "y": 0.047250695526599884,
                    "z": 0.044751252979040146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17695988714694977,
        "expert_target_speed": 10.0,
        "target_point": [
            19.263962581139793,
            0.47015047619952255
        ],
        "target_point_next": [
            70.26030055731664,
            1.0794023502843564
        ]
    },
    "115": {
        "acceleration": [
            2.4504661560058594,
            -0.4473261535167694,
            -0.008258074522018433
        ],
        "angular_velocity": [
            -0.267535924911499,
            -0.4914359748363495,
            2.410630941390991
        ],
        "forward_vector": [
            -0.9999439120292664,
            0.009909072890877724,
            0.0037420897278934717
        ],
        "right_vector": [
            -0.009903160855174065,
            -0.9999496936798096,
            0.001595221576280892
        ],
        "location": [
            698.2191772460938,
            4287.24658203125,
            369.6925048828125
        ],
        "rotation": [
            -0.091400146484375,
            0.21440646052360535,
            179.43223571777344
        ],
        "velocity": [
            -10.117884635925293,
            0.07122800499200821,
            0.05972268804907799
        ],
        "speed": 10.118135348698802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.73644256591797,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.307518005371094,
                "transform": {
                    "location": {
                        "x": 656.9146728515625,
                        "y": 4297.06884765625,
                        "z": 369.9249572753906
                    },
                    "rotation": {
                        "roll": 0.003773366566747427,
                        "pitch": -0.4754289388656616,
                        "yaw": -0.1203613355755806
                    }
                },
                "velocity": {
                    "x": 6.307399272918701,
                    "y": -0.01876015216112137,
                    "z": -0.03386704996228218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.220922470092773,
                "transform": {
                    "location": {
                        "x": 657.2913818359375,
                        "y": 4293.81689453125,
                        "z": 369.9248046875
                    },
                    "rotation": {
                        "roll": 0.007729690987616777,
                        "pitch": -0.3045991063117981,
                        "yaw": -0.1270141750574112
                    }
                },
                "velocity": {
                    "x": 8.220759391784668,
                    "y": -0.02454284392297268,
                    "z": -0.045556239783763885
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0844144821167,
                "transform": {
                    "location": {
                        "x": 697.9716796875,
                        "y": 4296.84228515625,
                        "z": 369.6929931640625
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": -0.3303557336330414,
                        "yaw": -0.3267821967601776
                    }
                },
                "velocity": {
                    "x": 8.084156036376953,
                    "y": -0.04609251394867897,
                    "z": -0.04541676118969917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.331255912780762,
                "transform": {
                    "location": {
                        "x": 698.6373901367188,
                        "y": 4293.59033203125,
                        "z": 369.6984558105469
                    },
                    "rotation": {
                        "roll": 7.962510426295921e-05,
                        "pitch": -0.33193352818489075,
                        "yaw": -0.3361510932445526
                    }
                },
                "velocity": {
                    "x": 8.330968856811523,
                    "y": -0.04884782060980797,
                    "z": -0.0489518903195858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.980191707611084,
                "transform": {
                    "location": {
                        "x": 748.08349609375,
                        "y": 4286.3330078125,
                        "z": 369.4006652832031
                    },
                    "rotation": {
                        "roll": -0.0021667475812137127,
                        "pitch": 0.35297733545303345,
                        "yaw": 177.8504180908203
                    }
                },
                "velocity": {
                    "x": -5.9766693115234375,
                    "y": 0.20232760906219482,
                    "z": 0.034383296966552734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.091094970703125,
                "transform": {
                    "location": {
                        "x": 720.1301879882812,
                        "y": 4286.7587890625,
                        "z": 369.57373046875
                    },
                    "rotation": {
                        "roll": 5.2110826070927985e-11,
                        "pitch": 0.2790473699569702,
                        "yaw": 179.64154052734375
                    }
                },
                "velocity": {
                    "x": -10.090718269348145,
                    "y": 0.06316973268985748,
                    "z": 0.06007971614599228
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.170287609100342,
                "transform": {
                    "location": {
                        "x": 728.9107666015625,
                        "y": 4289.9443359375,
                        "z": 369.5216369628906
                    },
                    "rotation": {
                        "roll": 0.00036781124072149396,
                        "pitch": 0.38117918372154236,
                        "yaw": 179.69447326660156
                    }
                },
                "velocity": {
                    "x": -5.170040130615234,
                    "y": 0.04094192013144493,
                    "z": 0.029700545594096184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.643389701843262,
                "transform": {
                    "location": {
                        "x": 711.6864013671875,
                        "y": 4290.06103515625,
                        "z": 369.623046875
                    },
                    "rotation": {
                        "roll": 0.0007480945787392557,
                        "pitch": 0.22415313124656677,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -8.643087387084961,
                    "y": 0.05178233981132507,
                    "z": 0.05056754872202873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.088136672973633,
                "transform": {
                    "location": {
                        "x": 692.3533325195312,
                        "y": 4290.1748046875,
                        "z": 369.76409912109375
                    },
                    "rotation": {
                        "roll": 0.0010348042706027627,
                        "pitch": 0.34950077533721924,
                        "yaw": 179.67636108398438
                    }
                },
                "velocity": {
                    "x": -8.08787727355957,
                    "y": 0.0455993227660656,
                    "z": 0.04594217240810394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022604942321777,
                "transform": {
                    "location": {
                        "x": 673.9019165039062,
                        "y": 4290.283203125,
                        "z": 369.82659912109375
                    },
                    "rotation": {
                        "roll": 0.00029047924908809364,
                        "pitch": 0.31751498579978943,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.022340774536133,
                    "y": 0.04756385087966919,
                    "z": 0.044424064457416534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32984715700149536,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17199136316776276,
        "expert_target_speed": 10.0,
        "target_point": [
            16.679681231266937,
            0.32349761646666897
        ],
        "target_point_next": [
            67.67925200870307,
            0.5271034705453828
        ]
    },
    "120": {
        "acceleration": [
            3.9184188842773438,
            -0.22458450496196747,
            -0.02778761088848114
        ],
        "angular_velocity": [
            0.1072876900434494,
            -0.6774214506149292,
            1.8659900426864624
        ],
        "forward_vector": [
            -0.9999991059303284,
            -0.0004698352131526917,
            0.0012280936352908611
        ],
        "right_vector": [
            0.0004723242309410125,
            -0.9999978542327881,
            0.0020271947141736746
        ],
        "location": [
            695.7845458984375,
            4287.25244140625,
            369.70709228515625
        ],
        "rotation": [
            -0.11614987999200821,
            0.07036460191011429,
            -179.97308349609375
        ],
        "velocity": [
            -9.310160636901855,
            -0.023069564253091812,
            0.05398659408092499
        ],
        "speed": 9.310189218792043,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 53.30235290527344,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 617.1939086914062,
                        "y": 4297.21923828125,
                        "z": 370.40240478515625
                    },
                    "rotation": {
                        "roll": 5.2110808723693225e-11,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 617.5902709960938,
                        "y": 4293.966796875,
                        "z": 370.3723449707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.4522247314453125,
                "transform": {
                    "location": {
                        "x": 658.513427734375,
                        "y": 4297.0625,
                        "z": 369.9166259765625
                    },
                    "rotation": {
                        "roll": 0.0035688537172973156,
                        "pitch": -0.33810117840766907,
                        "yaw": -0.192718505859375
                    }
                },
                "velocity": {
                    "x": 6.452094554901123,
                    "y": -0.024227244779467583,
                    "z": -0.03304267302155495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.215428352355957,
                "transform": {
                    "location": {
                        "x": 659.021240234375,
                        "y": 4293.81103515625,
                        "z": 369.9154357910156
                    },
                    "rotation": {
                        "roll": 0.005664559081196785,
                        "pitch": -0.586296558380127,
                        "yaw": -0.1427917182445526
                    }
                },
                "velocity": {
                    "x": 6.215299129486084,
                    "y": -0.02357899211347103,
                    "z": -0.03239621967077255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049922943115234,
                "transform": {
                    "location": {
                        "x": 699.9879760742188,
                        "y": 4296.830078125,
                        "z": 369.681396484375
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": -0.3318447172641754,
                        "yaw": -0.3266600966453552
                    }
                },
                "velocity": {
                    "x": 8.049662590026855,
                    "y": -0.04592340067028999,
                    "z": -0.04569174721837044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109310150146484,
                "transform": {
                    "location": {
                        "x": 700.6912231445312,
                        "y": 4293.578125,
                        "z": 369.68658447265625
                    },
                    "rotation": {
                        "roll": 0.001557529205456376,
                        "pitch": -0.33599749207496643,
                        "yaw": -0.3397521674633026
                    }
                },
                "velocity": {
                    "x": 8.109021186828613,
                    "y": -0.04947061464190483,
                    "z": -0.04735250398516655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.835028171539307,
                "transform": {
                    "location": {
                        "x": 746.5160522460938,
                        "y": 4286.384765625,
                        "z": 369.40966796875
                    },
                    "rotation": {
                        "roll": -0.0026550283655524254,
                        "pitch": 0.358864963054657,
                        "yaw": 178.01087951660156
                    }
                },
                "velocity": {
                    "x": -6.831565856933594,
                    "y": 0.21401311457157135,
                    "z": 0.03894184157252312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.528509140014648,
                "transform": {
                    "location": {
                        "x": 717.6762084960938,
                        "y": 4286.7744140625,
                        "z": 369.5888671875
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.19664797186851501,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -9.528162002563477,
                    "y": 0.05910686030983925,
                    "z": 0.055861301720142365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5909504890441895,
                "transform": {
                    "location": {
                        "x": 727.554443359375,
                        "y": 4289.95361328125,
                        "z": 369.530029296875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.29909396171569824,
                        "yaw": 179.6758270263672
                    }
                },
                "velocity": {
                    "x": -5.590717792510986,
                    "y": 0.03896773234009743,
                    "z": 0.03294548764824867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.4740571975708,
                "transform": {
                    "location": {
                        "x": 709.3466796875,
                        "y": 4290.07470703125,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": 0.0009630144340917468,
                        "pitch": 0.22718574106693268,
                        "yaw": 179.65499877929688
                    }
                },
                "velocity": {
                    "x": -9.47373104095459,
                    "y": 0.05521335452795029,
                    "z": 0.055891599506139755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.463669776916504,
                "transform": {
                    "location": {
                        "x": 690.421875,
                        "y": 4290.1865234375,
                        "z": 369.7757263183594
                    },
                    "rotation": {
                        "roll": 0.00033716278267093003,
                        "pitch": 0.2758235037326813,
                        "yaw": 179.6697235107422
                    }
                },
                "velocity": {
                    "x": -7.463423728942871,
                    "y": 0.043145205825567245,
                    "z": 0.042570170015096664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990177631378174,
                "transform": {
                    "location": {
                        "x": 671.900634765625,
                        "y": 4290.294921875,
                        "z": 369.8375244140625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.3155547082424164,
                        "yaw": 179.65940856933594
                    }
                },
                "velocity": {
                    "x": -7.989912509918213,
                    "y": 0.047448497265577316,
                    "z": 0.04454783350229263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1508873850107193,
        "expert_target_speed": 10.0,
        "target_point": [
            14.247512086461565,
            0.1573637169702472
        ],
        "target_point_next": [
            65.2464490436326,
            -0.1683724723423057
        ]
    },
    "125": {
        "acceleration": [
            5.401744842529297,
            -0.1392824947834015,
            -0.02539306879043579
        ],
        "angular_velocity": [
            0.13919691741466522,
            -0.6268697381019592,
            1.2144461870193481
        ],
        "forward_vector": [
            -0.9999761581420898,
            -0.006669850554317236,
            -0.0017949332250282168
        ],
        "right_vector": [
            0.00666699418798089,
            -0.9999765157699585,
            0.0015925669576972723
        ],
        "location": [
            693.6171875,
            4287.24169921875,
            369.72015380859375
        ],
        "rotation": [
            -0.0912475511431694,
            -0.10284215211868286,
            -179.6178436279297
        ],
        "velocity": [
            -8.076813697814941,
            -0.07116752862930298,
            0.04645613580942154
        ],
        "speed": 8.077127232274002,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 51.13518524169922,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 619.2718505859375,
                        "y": 4297.20654296875,
                        "z": 370.2521057128906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 619.668212890625,
                        "y": 4293.9541015625,
                        "z": 370.2220764160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.561392784118652,
                "transform": {
                    "location": {
                        "x": 660.44140625,
                        "y": 4297.0556640625,
                        "z": 369.90655517578125
                    },
                    "rotation": {
                        "roll": 0.0004169633612036705,
                        "pitch": -0.07974245399236679,
                        "yaw": -0.2155151069164276
                    }
                },
                "velocity": {
                    "x": 8.561202049255371,
                    "y": -0.03437352925539017,
                    "z": -0.04563587158918381
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.167874813079834,
                "transform": {
                    "location": {
                        "x": 660.5558471679688,
                        "y": 4293.8056640625,
                        "z": 369.9072265625
                    },
                    "rotation": {
                        "roll": 0.002309969160705805,
                        "pitch": -0.38705313205718994,
                        "yaw": -0.1936645209789276
                    }
                },
                "velocity": {
                    "x": 6.167732238769531,
                    "y": -0.024599995464086533,
                    "z": -0.033979468047618866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08646297454834,
                "transform": {
                    "location": {
                        "x": 702.0053100585938,
                        "y": 4296.81884765625,
                        "z": 369.6697082519531
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.3315715193748474,
                        "yaw": -0.3292236328125
                    }
                },
                "velocity": {
                    "x": 8.086198806762695,
                    "y": -0.046482305973768234,
                    "z": -0.045896608382463455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330899238586426,
                "transform": {
                    "location": {
                        "x": 702.747314453125,
                        "y": 4293.56591796875,
                        "z": 369.6746826171875
                    },
                    "rotation": {
                        "roll": 9.643592784414068e-05,
                        "pitch": -0.33142125606536865,
                        "yaw": -0.3497924506664276
                    }
                },
                "velocity": {
                    "x": 8.33060073852539,
                    "y": -0.05077720060944557,
                    "z": -0.04892393946647644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.701417922973633,
                "transform": {
                    "location": {
                        "x": 744.6907348632812,
                        "y": 4286.44287109375,
                        "z": 369.4203796386719
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.35775163769721985,
                        "yaw": 178.20541381835938
                    }
                },
                "velocity": {
                    "x": -7.6978068351745605,
                    "y": 0.23136061429977417,
                    "z": 0.045628804713487625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.520036697387695,
                "transform": {
                    "location": {
                        "x": 715.4165649414062,
                        "y": 4286.7880859375,
                        "z": 369.60260009765625
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.1279362589120865,
                        "yaw": 179.6470184326172
                    }
                },
                "velocity": {
                    "x": -8.519736289978027,
                    "y": 0.051883991807699203,
                    "z": 0.049266356974840164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 623.1502685546875,
                        "y": 4287.43310546875,
                        "z": 370.2552795410156
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.377790451049805,
                "transform": {
                    "location": {
                        "x": 725.9285888671875,
                        "y": 4289.96435546875,
                        "z": 369.54058837890625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.18035796284675598,
                        "yaw": 179.568115234375
                    }
                },
                "velocity": {
                    "x": -7.3774638175964355,
                    "y": 0.054422810673713684,
                    "z": 0.04310743138194084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.358431816101074,
                "transform": {
                    "location": {
                        "x": 707.1121215820312,
                        "y": 4290.087890625,
                        "z": 369.6481018066406
                    },
                    "rotation": {
                        "roll": 0.0011702231131494045,
                        "pitch": 0.4118603765964508,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -8.358145713806152,
                    "y": 0.04958512634038925,
                    "z": 0.04820617660880089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.894287586212158,
                "transform": {
                    "location": {
                        "x": 688.5263671875,
                        "y": 4290.197265625,
                        "z": 369.7858581542969
                    },
                    "rotation": {
                        "roll": 0.00012692758173216134,
                        "pitch": 0.34799128770828247,
                        "yaw": 179.66867065429688
                    }
                },
                "velocity": {
                    "x": -7.894030570983887,
                    "y": 0.04562109708786011,
                    "z": 0.0444275364279747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021215438842773,
                "transform": {
                    "location": {
                        "x": 669.8993530273438,
                        "y": 4290.306640625,
                        "z": 369.84857177734375
                    },
                    "rotation": {
                        "roll": 3.765425208257511e-05,
                        "pitch": 0.3134920001029968,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -8.020946502685547,
                    "y": 0.0476594902575016,
                    "z": 0.045047491788864136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14426524937152863,
        "expert_target_speed": 10.0,
        "target_point": [
            12.0808320509383,
            0.07274325639205828
        ],
        "target_point_next": [
            63.07676936505103,
            -0.5691697296256983
        ]
    },
    "130": {
        "acceleration": [
            1.4327621459960938,
            -0.1439639925956726,
            -0.021202489733695984
        ],
        "angular_velocity": [
            0.04259653761982918,
            0.7938718199729919,
            1.1268998384475708
        ],
        "forward_vector": [
            -0.9999302625656128,
            -0.011716236360371113,
            -0.0014673464465886354
        ],
        "right_vector": [
            0.011714490130543709,
            -0.9999306201934814,
            0.0011925617000088096
        ],
        "location": [
            691.7227783203125,
            4287.220703125,
            369.7309265136719
        ],
        "rotation": [
            -0.0683288425207138,
            -0.0840727910399437,
            -179.3286895751953
        ],
        "velocity": [
            -7.260592460632324,
            -0.10436678677797318,
            0.04160565137863159
        ],
        "speed": 7.261342527768078,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 49.24072265625,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 621.3507690429688,
                        "y": 4297.1943359375,
                        "z": 370.12982177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 621.7481689453125,
                        "y": 4293.94189453125,
                        "z": 370.12603759765625
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011409759521484,
                "transform": {
                    "location": {
                        "x": 662.5242309570312,
                        "y": 4297.04638671875,
                        "z": 369.8951110839844
                    },
                    "rotation": {
                        "roll": 0.0037059623282402754,
                        "pitch": -0.3084103465080261,
                        "yaw": -0.39279165863990784
                    }
                },
                "velocity": {
                    "x": 8.011183738708496,
                    "y": -0.04158218950033188,
                    "z": -0.043506551533937454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.123188972473145,
                "transform": {
                    "location": {
                        "x": 662.3114624023438,
                        "y": 4293.7978515625,
                        "z": 369.89788818359375
                    },
                    "rotation": {
                        "roll": 0.0053816670551896095,
                        "pitch": -0.010163321159780025,
                        "yaw": -0.2568359375
                    }
                },
                "velocity": {
                    "x": 8.122979164123535,
                    "y": -0.039699383080005646,
                    "z": -0.042841244488954544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05101490020752,
                "transform": {
                    "location": {
                        "x": 704.0222778320312,
                        "y": 4296.806640625,
                        "z": 369.6580810546875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.33224770426750183,
                        "yaw": -0.3319091498851776
                    }
                },
                "velocity": {
                    "x": 8.050753593444824,
                    "y": -0.04666861519217491,
                    "z": -0.045161642134189606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.726150035858154,
                "transform": {
                    "location": {
                        "x": 704.6832885742188,
                        "y": 4293.5546875,
                        "z": 369.66546630859375
                    },
                    "rotation": {
                        "roll": -0.000457763351732865,
                        "pitch": -0.583612322807312,
                        "yaw": -0.4072570204734802
                    }
                },
                "velocity": {
                    "x": 6.725913047790527,
                    "y": -0.04030745476484299,
                    "z": -0.03953196853399277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.457377433776855,
                "transform": {
                    "location": {
                        "x": 742.6676635742188,
                        "y": 4286.5,
                        "z": 369.4323425292969
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": 0.3561738431453705,
                        "yaw": 178.43048095703125
                    }
                },
                "velocity": {
                    "x": -8.454771041870117,
                    "y": 0.20411048829555511,
                    "z": 0.049151238054037094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.724812030792236,
                "transform": {
                    "location": {
                        "x": 713.6060791015625,
                        "y": 4286.798828125,
                        "z": 369.6151123046875
                    },
                    "rotation": {
                        "roll": -3.0517632694682106e-05,
                        "pitch": -0.12545691430568695,
                        "yaw": 179.65379333496094
                    }
                },
                "velocity": {
                    "x": -6.724574565887451,
                    "y": 0.040684111416339874,
                    "z": 0.039246816188097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.713419497013092,
                "transform": {
                    "location": {
                        "x": 623.1500854492188,
                        "y": 4287.43310546875,
                        "z": 370.1578674316406
                    },
                    "rotation": {
                        "roll": 0.0001671808131504804,
                        "pitch": 0.283698707818985,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.003347075777128339,
                    "y": 2.3592871002620086e-05,
                    "z": -0.7134116291999817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.33319091796875,
                "transform": {
                    "location": {
                        "x": 723.9539794921875,
                        "y": 4289.978515625,
                        "z": 369.55169677734375
                    },
                    "rotation": {
                        "roll": 0.00033871730556711555,
                        "pitch": 0.21648965775966644,
                        "yaw": 179.5790252685547
                    }
                },
                "velocity": {
                    "x": -8.332845687866211,
                    "y": 0.05881521478295326,
                    "z": 0.04798881337046623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.804782390594482,
                "transform": {
                    "location": {
                        "x": 705.1719360351562,
                        "y": 4290.0986328125,
                        "z": 369.6587829589844
                    },
                    "rotation": {
                        "roll": 7.27880178601481e-05,
                        "pitch": 0.48145318031311035,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -6.804555892944336,
                    "y": 0.03869985416531563,
                    "z": 0.03985287621617317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.262457847595215,
                "transform": {
                    "location": {
                        "x": 686.4672241210938,
                        "y": 4290.20947265625,
                        "z": 369.79736328125
                    },
                    "rotation": {
                        "roll": 0.00016625206626486033,
                        "pitch": 0.36154237389564514,
                        "yaw": 179.66317749023438
                    }
                },
                "velocity": {
                    "x": -8.262177467346191,
                    "y": 0.04859384521842003,
                    "z": 0.04767348989844322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989148139953613,
                "transform": {
                    "location": {
                        "x": 667.8985595703125,
                        "y": 4290.31884765625,
                        "z": 369.8595275878906
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": 0.31345102190971375,
                        "yaw": 179.65933227539062
                    }
                },
                "velocity": {
                    "x": -7.988885879516602,
                    "y": 0.047489967197179794,
                    "z": 0.04400460049510002
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13115645945072174,
        "expert_target_speed": 10.0,
        "target_point": [
            10.186520173307786,
            0.012973864680919697
        ],
        "target_point_next": [
            61.17856841797914,
            -0.8862984186912223
        ]
    },
    "135": {
        "acceleration": [
            -0.5802536010742188,
            -0.09889543056488037,
            -0.006886869668960571
        ],
        "angular_velocity": [
            0.11857997626066208,
            0.9936516880989075,
            0.9760935306549072
        ],
        "forward_vector": [
            -0.9998624920845032,
            -0.016365844756364822,
            0.002682801801711321
        ],
        "right_vector": [
            0.01636827550828457,
            -0.9998655915260315,
            0.0008873618207871914
        ],
        "location": [
            689.9249877929688,
            4287.19189453125,
            369.740234375
        ],
        "rotation": [
            -0.0508422777056694,
            0.1537134051322937,
            -179.062255859375
        ],
        "velocity": [
            -7.21878719329834,
            -0.1354910135269165,
            0.04102172702550888
        ],
        "speed": 7.220058611734026,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 47.44269943237305,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022451400756836,
                "transform": {
                    "location": {
                        "x": 623.392822265625,
                        "y": 4297.1884765625,
                        "z": 370.1029357910156
                    },
                    "rotation": {
                        "roll": -0.01303100399672985,
                        "pitch": -0.29919642210006714,
                        "yaw": -0.0946044921875
                    }
                },
                "velocity": {
                    "x": 8.021415710449219,
                    "y": 0.030966367572546005,
                    "z": -0.12515166401863098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.211861610412598,
                "transform": {
                    "location": {
                        "x": 623.7881469726562,
                        "y": 4293.93896484375,
                        "z": 370.10382080078125
                    },
                    "rotation": {
                        "roll": -0.0644531175494194,
                        "pitch": -0.33712446689605713,
                        "yaw": -0.007202147040516138
                    }
                },
                "velocity": {
                    "x": 8.21135139465332,
                    "y": 0.026493627578020096,
                    "z": -0.08764301985502243
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975675106048584,
                "transform": {
                    "location": {
                        "x": 664.5001220703125,
                        "y": 4297.03466796875,
                        "z": 369.88433837890625
                    },
                    "rotation": {
                        "roll": 0.005506050772964954,
                        "pitch": -0.3236689865589142,
                        "yaw": -0.508880615234375
                    }
                },
                "velocity": {
                    "x": 7.975388050079346,
                    "y": -0.05175122246146202,
                    "z": -0.0436471588909626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.267839431762695,
                "transform": {
                    "location": {
                        "x": 664.421875,
                        "y": 4293.78759765625,
                        "z": 369.8863830566406
                    },
                    "rotation": {
                        "roll": 0.0032486282289028168,
                        "pitch": -0.21502800285816193,
                        "yaw": -0.301513671875
                    }
                },
                "velocity": {
                    "x": 8.267605781555176,
                    "y": -0.04327970743179321,
                    "z": -0.0445602722465992
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084806442260742,
                "transform": {
                    "location": {
                        "x": 706.039306640625,
                        "y": 4296.79541015625,
                        "z": 369.6463928222656
                    },
                    "rotation": {
                        "roll": 0.00030638527823612094,
                        "pitch": -0.3326711654663086,
                        "yaw": -0.3324584662914276
                    }
                },
                "velocity": {
                    "x": 8.084541320800781,
                    "y": -0.04690318554639816,
                    "z": -0.045716799795627594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.538771629333496,
                "transform": {
                    "location": {
                        "x": 706.1676635742188,
                        "y": 4293.54541015625,
                        "z": 369.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0017154517117887735,
                        "pitch": -0.7203049063682556,
                        "yaw": -0.437774658203125
                    }
                },
                "velocity": {
                    "x": 5.538562297821045,
                    "y": -0.035404790192842484,
                    "z": -0.03264165669679642
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.223426818847656,
                "transform": {
                    "location": {
                        "x": 740.455078125,
                        "y": 4286.5517578125,
                        "z": 369.4453125
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": 0.3552108108997345,
                        "yaw": 178.73875427246094
                    }
                },
                "velocity": {
                    "x": -9.221258163452148,
                    "y": 0.19271506369113922,
                    "z": 0.05342660844326019
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.330723285675049,
                "transform": {
                    "location": {
                        "x": 711.8596801757812,
                        "y": 4286.80908203125,
                        "z": 369.62109375
                    },
                    "rotation": {
                        "roll": 0.0007434097351506352,
                        "pitch": 0.4040125012397766,
                        "yaw": 179.65232849121094
                    }
                },
                "velocity": {
                    "x": -7.330469131469727,
                    "y": 0.04423051327466965,
                    "z": 0.04208754375576973
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.046467818319797516,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.09576416015625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.28789928555488586,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0002287915995111689,
                    "y": 0.00012696288467850536,
                    "z": -0.04646708071231842
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.787233352661133,
                "transform": {
                    "location": {
                        "x": 721.7725830078125,
                        "y": 4289.994140625,
                        "z": 369.56390380859375
                    },
                    "rotation": {
                        "roll": -0.0007934567984193563,
                        "pitch": 0.27481263875961304,
                        "yaw": 179.5836181640625
                    }
                },
                "velocity": {
                    "x": -8.78685474395752,
                    "y": 0.06388946622610092,
                    "z": 0.050654247403144836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.582123756408691,
                "transform": {
                    "location": {
                        "x": 703.526611328125,
                        "y": 4290.10888671875,
                        "z": 369.6691589355469
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.3842732608318329,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": -6.581913948059082,
                    "y": 0.03670600429177284,
                    "z": 0.037625037133693695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.814779281616211,
                "transform": {
                    "location": {
                        "x": 684.4677734375,
                        "y": 4290.220703125,
                        "z": 369.8091735839844
                    },
                    "rotation": {
                        "roll": 0.001116617931984365,
                        "pitch": 0.29836997389793396,
                        "yaw": 179.65740966796875
                    }
                },
                "velocity": {
                    "x": -7.81451416015625,
                    "y": 0.046711839735507965,
                    "z": 0.04432671517133713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021862030029297,
                "transform": {
                    "location": {
                        "x": 665.8972778320312,
                        "y": 4290.330078125,
                        "z": 369.8704528808594
                    },
                    "rotation": {
                        "roll": 0.00028830632800236344,
                        "pitch": 0.3138335049152374,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -8.021597862243652,
                    "y": 0.04769134521484375,
                    "z": 0.04429072141647339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07705309987068176,
        "expert_target_speed": 10.0,
        "target_point": [
            8.38844914169941,
            -0.0337762692951524
        ],
        "target_point_next": [
            59.37576436675226,
            -1.170156913105559
        ]
    },
    "140": {
        "acceleration": [
            -2.8447437286376953,
            -0.1607397198677063,
            0.015355497598648071
        ],
        "angular_velocity": [
            0.0009381704730913043,
            0.9308868646621704,
            0.7704909443855286
        ],
        "forward_vector": [
            -0.9997764229774475,
            -0.019968995824456215,
            0.006946507375687361
        ],
        "right_vector": [
            0.01997370645403862,
            -0.9998003244400024,
            0.0006093165720812976
        ],
        "location": [
            688.0609130859375,
            4287.15478515625,
            369.7499084472656
        ],
        "rotation": [
            -0.0349121168255806,
            0.3980087637901306,
            -178.8557586669922
        ],
        "velocity": [
            -7.722318172454834,
            -0.16825249791145325,
            0.04208622872829437
        ],
        "speed": 7.724150882762429,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 45.57823181152344,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076809883117676,
                "transform": {
                    "location": {
                        "x": 625.4054565429688,
                        "y": 4297.19677734375,
                        "z": 370.08148193359375
                    },
                    "rotation": {
                        "roll": -0.009002684615552425,
                        "pitch": -0.28742116689682007,
                        "yaw": 0.26597967743873596
                    }
                },
                "velocity": {
                    "x": 8.076433181762695,
                    "y": 0.050725482404232025,
                    "z": -0.059329401701688766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015780448913574,
                "transform": {
                    "location": {
                        "x": 625.8157348632812,
                        "y": 4293.94775390625,
                        "z": 370.0863952636719
                    },
                    "rotation": {
                        "roll": -0.0508727952837944,
                        "pitch": -0.311524897813797,
                        "yaw": 0.2848517596721649
                    }
                },
                "velocity": {
                    "x": 8.015432357788086,
                    "y": 0.049178965389728546,
                    "z": -0.05618732422590256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.124967575073242,
                "transform": {
                    "location": {
                        "x": 666.525634765625,
                        "y": 4297.02099609375,
                        "z": 369.87335205078125
                    },
                    "rotation": {
                        "roll": 0.0024161962792277336,
                        "pitch": -0.2935205399990082,
                        "yaw": -0.5340575575828552
                    }
                },
                "velocity": {
                    "x": 8.124664306640625,
                    "y": -0.05389736220240593,
                    "z": -0.0448845773935318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.78550910949707,
                "transform": {
                    "location": {
                        "x": 666.4087524414062,
                        "y": 4293.77685546875,
                        "z": 369.8755798339844
                    },
                    "rotation": {
                        "roll": 0.000752409512642771,
                        "pitch": -0.37204039096832275,
                        "yaw": -0.291290283203125
                    }
                },
                "velocity": {
                    "x": 7.785274982452393,
                    "y": -0.04160737246274948,
                    "z": -0.04373487830162048
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052666664123535,
                "transform": {
                    "location": {
                        "x": 708.0563354492188,
                        "y": 4296.78369140625,
                        "z": 369.6346740722656
                    },
                    "rotation": {
                        "roll": 7.925011595943943e-05,
                        "pitch": -0.3323706388473511,
                        "yaw": -0.3349303603172302
                    }
                },
                "velocity": {
                    "x": 8.05239200592041,
                    "y": -0.047345858067274094,
                    "z": -0.046702541410923004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.059490203857422,
                "transform": {
                    "location": {
                        "x": 707.575927734375,
                        "y": 4293.5361328125,
                        "z": 369.6463317871094
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -0.29602038860321045,
                        "yaw": -0.397430419921875
                    }
                },
                "velocity": {
                    "x": 6.059264183044434,
                    "y": -0.03829491510987282,
                    "z": -0.0356149859726429
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.026776313781738,
                "transform": {
                    "location": {
                        "x": 738.0462036132812,
                        "y": 4286.6015625,
                        "z": 369.45947265625
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": 0.3552108108997345,
                        "yaw": 178.89779663085938
                    }
                },
                "velocity": {
                    "x": -10.025121688842773,
                    "y": 0.17276738584041595,
                    "z": 0.05767357721924782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.561516761779785,
                "transform": {
                    "location": {
                        "x": 709.8590698242188,
                        "y": 4286.8212890625,
                        "z": 369.63037109375
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.6812567114830017,
                        "yaw": 179.72933959960938
                    }
                },
                "velocity": {
                    "x": -8.561237335205078,
                    "y": 0.04853231832385063,
                    "z": 0.049367789179086685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0027428334578871727,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.0938720703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.28865060210227966,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.4661681891302578e-05,
                    "y": -1.5385934602818452e-05,
                    "z": 0.0027426795568317175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.119278907775879,
                "transform": {
                    "location": {
                        "x": 719.6522216796875,
                        "y": 4290.00927734375,
                        "z": 369.5754089355469
                    },
                    "rotation": {
                        "roll": 0.0007069563143886626,
                        "pitch": 0.3731537163257599,
                        "yaw": 179.60226440429688
                    }
                },
                "velocity": {
                    "x": -8.118963241577148,
                    "y": 0.052918899804353714,
                    "z": 0.048152998089790344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.264516353607178,
                "transform": {
                    "location": {
                        "x": 701.8050537109375,
                        "y": 4290.1181640625,
                        "z": 369.6799011230469
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.27930691838264465,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -7.2642717361450195,
                    "y": 0.042547035962343216,
                    "z": 0.04173070937395096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.119161605834961,
                "transform": {
                    "location": {
                        "x": 682.4829711914062,
                        "y": 4290.23291015625,
                        "z": 369.8200378417969
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.3367214798927307,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -8.118891716003418,
                    "y": 0.048563599586486816,
                    "z": 0.044925935566425323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9898681640625,
                "transform": {
                    "location": {
                        "x": 663.896240234375,
                        "y": 4290.341796875,
                        "z": 369.88128662109375
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 0.3109170198440552,
                        "yaw": 179.65921020507812
                    }
                },
                "velocity": {
                    "x": -7.98960542678833,
                    "y": 0.04751523956656456,
                    "z": 0.044004086405038834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01961696892976761,
        "expert_target_speed": 10.0,
        "target_point": [
            57.506717563078716,
            -1.3840124495446058
        ],
        "target_point_next": [
            108.48961598534775,
            -2.703652114068243
        ]
    },
    "145": {
        "acceleration": [
            -3.0330657958984375,
            -0.015290677547454834,
            0.023665428161621094
        ],
        "angular_velocity": [
            0.15370920300483704,
            0.5144623517990112,
            0.00508164195343852
        ],
        "forward_vector": [
            -0.9997066855430603,
            -0.022041913121938705,
            0.010036061517894268
        ],
        "right_vector": [
            0.022044798359274864,
            -0.9997569918632507,
            0.00017682496400084347
        ],
        "location": [
            686.0341796875,
            4287.10986328125,
            369.7606201171875
        ],
        "rotation": [
            -0.01013183407485485,
            0.5750336050987244,
            -178.73692321777344
        ],
        "velocity": [
            -8.474639892578125,
            -0.18642672896385193,
            0.04789583012461662
        ],
        "speed": 8.476690169762533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 43.55097198486328,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009806632995605,
                "transform": {
                    "location": {
                        "x": 627.4158325195312,
                        "y": 4297.20703125,
                        "z": 370.06927490234375
                    },
                    "rotation": {
                        "roll": 0.0015638156328350306,
                        "pitch": -0.28554970026016235,
                        "yaw": 0.2775854766368866
                    }
                },
                "velocity": {
                    "x": 8.009684562683105,
                    "y": 0.01200209278613329,
                    "z": -0.042573921382427216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.205202102661133,
                "transform": {
                    "location": {
                        "x": 627.8444213867188,
                        "y": 4293.955078125,
                        "z": 370.0740051269531
                    },
                    "rotation": {
                        "roll": 0.007776831742376089,
                        "pitch": -0.2917173504829407,
                        "yaw": 0.18497318029403687
                    }
                },
                "velocity": {
                    "x": 8.205063819885254,
                    "y": 0.01408344879746437,
                    "z": -0.04557298123836517
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027897834777832,
                "transform": {
                    "location": {
                        "x": 668.5424194335938,
                        "y": 4297.00732421875,
                        "z": 369.8623046875
                    },
                    "rotation": {
                        "roll": 0.0011264965869486332,
                        "pitch": -0.3272343575954437,
                        "yaw": -0.5294495820999146
                    }
                },
                "velocity": {
                    "x": 8.027599334716797,
                    "y": -0.05286571383476257,
                    "z": -0.0446738675236702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.173782348632812,
                "transform": {
                    "location": {
                        "x": 668.4013671875,
                        "y": 4293.765625,
                        "z": 369.8645935058594
                    },
                    "rotation": {
                        "roll": 0.00020858865173067898,
                        "pitch": -0.2686108350753784,
                        "yaw": -0.3280334174633026
                    }
                },
                "velocity": {
                    "x": 8.173531532287598,
                    "y": -0.04500846937298775,
                    "z": -0.0454300232231617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083714485168457,
                "transform": {
                    "location": {
                        "x": 710.0734252929688,
                        "y": 4296.77197265625,
                        "z": 369.6229553222656
                    },
                    "rotation": {
                        "roll": 0.000751828367356211,
                        "pitch": -0.33373668789863586,
                        "yaw": -0.33917236328125
                    }
                },
                "velocity": {
                    "x": 8.0834321975708,
                    "y": -0.047914452850818634,
                    "z": -0.04766705259680748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.569554328918457,
                "transform": {
                    "location": {
                        "x": 709.3226928710938,
                        "y": 4293.5244140625,
                        "z": 369.6330871582031
                    },
                    "rotation": {
                        "roll": -0.0031433100812137127,
                        "pitch": 0.09577290713787079,
                        "yaw": -0.29364013671875
                    }
                },
                "velocity": {
                    "x": 7.569296836853027,
                    "y": -0.044390302151441574,
                    "z": -0.043878570199012756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.873908996582031,
                "transform": {
                    "location": {
                        "x": 735.4305419921875,
                        "y": 4286.64208984375,
                        "z": 369.47479248046875
                    },
                    "rotation": {
                        "roll": -0.0038452136795967817,
                        "pitch": 0.3573281466960907,
                        "yaw": 179.2265167236328
                    }
                },
                "velocity": {
                    "x": -10.872878074645996,
                    "y": 0.1358676701784134,
                    "z": 0.0629676803946495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.803485870361328,
                "transform": {
                    "location": {
                        "x": 707.5589599609375,
                        "y": 4286.83447265625,
                        "z": 369.64404296875
                    },
                    "rotation": {
                        "roll": 0.0004936698242090642,
                        "pitch": 0.6359315514564514,
                        "yaw": 179.70947265625
                    }
                },
                "velocity": {
                    "x": -9.803159713745117,
                    "y": 0.05602489411830902,
                    "z": 0.05709223449230194
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005397499073296785,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.0950622558594
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.28869158029556274,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 2.471119114488829e-05,
                    "y": -6.2694107327843085e-06,
                    "z": 0.005397439002990723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.051177978515625,
                "transform": {
                    "location": {
                        "x": 717.8382568359375,
                        "y": 4290.02099609375,
                        "z": 369.5848388671875
                    },
                    "rotation": {
                        "roll": 0.0005981657304801047,
                        "pitch": 0.521956205368042,
                        "yaw": 179.60751342773438
                    }
                },
                "velocity": {
                    "x": -6.050943851470947,
                    "y": 0.03953791409730911,
                    "z": 0.035607241094112396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.755146980285645,
                "transform": {
                    "location": {
                        "x": 699.865478515625,
                        "y": 4290.13037109375,
                        "z": 369.6919860839844
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.17815181612968445,
                        "yaw": 179.63006591796875
                    }
                },
                "velocity": {
                    "x": -8.754851341247559,
                    "y": 0.0524178110063076,
                    "z": 0.04922756180167198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03460693359375,
                "transform": {
                    "location": {
                        "x": 680.452392578125,
                        "y": 4290.244140625,
                        "z": 369.8314514160156
                    },
                    "rotation": {
                        "roll": 6.286372808972374e-05,
                        "pitch": 0.32265812158584595,
                        "yaw": 179.65711975097656
                    }
                },
                "velocity": {
                    "x": -8.03433609008789,
                    "y": 0.04809014871716499,
                    "z": 0.04515397921204567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021306037902832,
                "transform": {
                    "location": {
                        "x": 661.8949584960938,
                        "y": 4290.353515625,
                        "z": 369.89215087890625
                    },
                    "rotation": {
                        "roll": -0.0024108889047056437,
                        "pitch": 0.309202641248703,
                        "yaw": 179.65911865234375
                    }
                },
                "velocity": {
                    "x": -8.021039962768555,
                    "y": 0.04777885228395462,
                    "z": 0.04452843591570854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030936989933252335,
        "expert_target_speed": 10.0,
        "target_point": [
            55.476492632217344,
            -1.5035007034660899
        ],
        "target_point_next": [
            106.45654480821202,
            -2.9288639948581228
        ]
    },
    "150": {
        "acceleration": [
            -0.0925445556640625,
            0.04118144512176514,
            0.006398409605026245
        ],
        "angular_velocity": [
            0.08019175380468369,
            -0.7104246020317078,
            -0.2544216811656952
        ],
        "forward_vector": [
            -0.9997117519378662,
            -0.021311379969120026,
            0.011052262969315052
        ],
        "right_vector": [
            0.02131066657602787,
            -0.9997729063034058,
            -0.00018235159222967923
        ],
        "location": [
            683.8078002929688,
            4287.06201171875,
            369.77294921875
        ],
        "rotation": [
            0.010448615066707134,
            0.63326096534729,
            -178.77877807617188
        ],
        "velocity": [
            -9.140315055847168,
            -0.1913653165102005,
            0.05111893638968468
        ],
        "speed": 9.142318087034024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 41.32404708862305,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.920444965362549,
                "transform": {
                    "location": {
                        "x": 629.1920776367188,
                        "y": 4297.20947265625,
                        "z": 370.06085205078125
                    },
                    "rotation": {
                        "roll": 0.0007746007177047431,
                        "pitch": -0.39919722080230713,
                        "yaw": 0.06052691861987114
                    }
                },
                "velocity": {
                    "x": 5.920360088348389,
                    "y": -2.322944601473864e-05,
                    "z": -0.031708743423223495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0094633102417,
                "transform": {
                    "location": {
                        "x": 629.8702392578125,
                        "y": 4293.95751953125,
                        "z": 370.0632629394531
                    },
                    "rotation": {
                        "roll": 0.012040541507303715,
                        "pitch": -0.3008083403110504,
                        "yaw": 0.05231759324669838
                    }
                },
                "velocity": {
                    "x": 8.009355545043945,
                    "y": 0.0035328285302966833,
                    "z": -0.041380785405635834
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037679672241211,
                "transform": {
                    "location": {
                        "x": 670.5469970703125,
                        "y": 4296.99365234375,
                        "z": 369.8513488769531
                    },
                    "rotation": {
                        "roll": 0.00011823936802102253,
                        "pitch": -0.3101247251033783,
                        "yaw": -0.5354309678077698
                    }
                },
                "velocity": {
                    "x": 8.037393569946289,
                    "y": -0.05160452798008919,
                    "z": -0.04399295523762703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049382209777832,
                "transform": {
                    "location": {
                        "x": 670.4403686523438,
                        "y": 4293.75390625,
                        "z": 369.853515625
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.32125791907310486,
                        "yaw": -0.3061523139476776
                    }
                },
                "velocity": {
                    "x": 8.049139022827148,
                    "y": -0.04395098611712456,
                    "z": -0.04453036189079285
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052392959594727,
                "transform": {
                    "location": {
                        "x": 712.0902099609375,
                        "y": 4296.76025390625,
                        "z": 369.6112060546875
                    },
                    "rotation": {
                        "roll": 0.0005907106096856296,
                        "pitch": -0.33368203043937683,
                        "yaw": -0.3411865234375
                    }
                },
                "velocity": {
                    "x": 8.052102088928223,
                    "y": -0.048673227429389954,
                    "z": -0.04800577834248543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.738336563110352,
                "transform": {
                    "location": {
                        "x": 711.3712158203125,
                        "y": 4293.51318359375,
                        "z": 369.6219482421875
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.00036883019492961466,
                        "yaw": -0.3141479194164276
                    }
                },
                "velocity": {
                    "x": 8.738043785095215,
                    "y": -0.050496023148298264,
                    "z": -0.05073271319270134
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.76797103881836,
                "transform": {
                    "location": {
                        "x": 732.5971069335938,
                        "y": 4286.6748046875,
                        "z": 369.49139404296875
                    },
                    "rotation": {
                        "roll": -0.003601073520258069,
                        "pitch": 0.35628312826156616,
                        "yaw": 179.43576049804688
                    }
                },
                "velocity": {
                    "x": -11.767274856567383,
                    "y": 0.10823617875576019,
                    "z": 0.06844619661569595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.263167381286621,
                "transform": {
                    "location": {
                        "x": 705.0672607421875,
                        "y": 4286.84814453125,
                        "z": 369.6597900390625
                    },
                    "rotation": {
                        "roll": 0.0008953650249168277,
                        "pitch": 0.48278507590293884,
                        "yaw": 179.67799377441406
                    }
                },
                "velocity": {
                    "x": -10.262823104858398,
                    "y": 0.059264592826366425,
                    "z": 0.05971987545490265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015314861666411161,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.09564208984375
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.28852084279060364,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -1.043081283569336e-06,
                    "y": 4.865430310019292e-05,
                    "z": 0.0015307128196582198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.70865535736084,
                "transform": {
                    "location": {
                        "x": 716.3997192382812,
                        "y": 4290.03125,
                        "z": 369.59417724609375
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.4092307686805725,
                        "yaw": 179.60231018066406
                    }
                },
                "velocity": {
                    "x": -5.708430767059326,
                    "y": 0.03780033811926842,
                    "z": 0.033659372478723526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.013495445251465,
                "transform": {
                    "location": {
                        "x": 697.577880859375,
                        "y": 4290.14404296875,
                        "z": 369.70428466796875
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.27180737257003784,
                        "yaw": 179.62380981445312
                    }
                },
                "velocity": {
                    "x": -9.01317024230957,
                    "y": 0.05568012595176697,
                    "z": 0.05261658504605293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.974063873291016,
                "transform": {
                    "location": {
                        "x": 678.4598999023438,
                        "y": 4290.25634765625,
                        "z": 369.8426208496094
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": 0.3128431439399719,
                        "yaw": 179.6572265625
                    }
                },
                "velocity": {
                    "x": -7.973794937133789,
                    "y": 0.0476672388613224,
                    "z": 0.04493293538689613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989684581756592,
                "transform": {
                    "location": {
                        "x": 659.8942260742188,
                        "y": 4290.36572265625,
                        "z": 369.9029235839844
                    },
                    "rotation": {
                        "roll": 9.63541169767268e-05,
                        "pitch": 0.30996763706207275,
                        "yaw": 179.65626525878906
                    }
                },
                "velocity": {
                    "x": -7.989417552947998,
                    "y": 0.04795844480395317,
                    "z": 0.044332291930913925
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06903968006372452,
        "expert_target_speed": 10.0,
        "target_point": [
            53.25068192331433,
            -1.4633902026684067
        ],
        "target_point_next": [
            104.23176108310315,
            -2.851535758052737
        ]
    },
    "155": {
        "acceleration": [
            -4.037647247314453,
            -0.0021016597747802734,
            0.005096495151519775
        ],
        "angular_velocity": [
            -0.031942177563905716,
            0.41775232553482056,
            -0.3543130159378052
        ],
        "forward_vector": [
            -0.9997051358222961,
            -0.02005651220679283,
            0.013688374310731888
        ],
        "right_vector": [
            0.0200529582798481,
            -0.9997988939285278,
            -0.00039688407559879124
        ],
        "location": [
            681.3673095703125,
            4287.01220703125,
            369.7861328125
        ],
        "rotation": [
            0.02274191379547119,
            0.7843105792999268,
            -178.8506622314453
        ],
        "velocity": [
            -10.407108306884766,
            -0.203793466091156,
            0.05749431625008583
        ],
        "speed": 10.40910347186785,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 38.88301086425781,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.708258152008057,
                "transform": {
                    "location": {
                        "x": 630.6156005859375,
                        "y": 4297.2099609375,
                        "z": 370.05316162109375
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": -0.3397267460823059,
                        "yaw": 0.001903720200061798
                    }
                },
                "velocity": {
                    "x": 5.708183288574219,
                    "y": -0.002250953810289502,
                    "z": -0.029141539707779884
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.200230598449707,
                "transform": {
                    "location": {
                        "x": 631.8973388671875,
                        "y": 4293.95751953125,
                        "z": 370.05279541015625
                    },
                    "rotation": {
                        "roll": 0.017237957566976547,
                        "pitch": -0.29373225569725037,
                        "yaw": -0.007171630859375
                    }
                },
                "velocity": {
                    "x": 8.200113296508789,
                    "y": -0.012527837418019772,
                    "z": -0.041965335607528687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.096179008483887,
                "transform": {
                    "location": {
                        "x": 672.5675659179688,
                        "y": 4296.98046875,
                        "z": 369.84027099609375
                    },
                    "rotation": {
                        "roll": 0.000956206931732595,
                        "pitch": -0.3159167170524597,
                        "yaw": -0.50750732421875
                    }
                },
                "velocity": {
                    "x": 8.095891952514648,
                    "y": -0.051590535789728165,
                    "z": -0.04450545087456703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.971808910369873,
                "transform": {
                    "location": {
                        "x": 672.4320068359375,
                        "y": 4293.7421875,
                        "z": 369.842529296875
                    },
                    "rotation": {
                        "roll": 0.0012301602400839329,
                        "pitch": -0.3326370120048523,
                        "yaw": -0.3371886909008026
                    }
                },
                "velocity": {
                    "x": 7.971564292907715,
                    "y": -0.04491189867258072,
                    "z": -0.04340140148997307
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085121154785156,
                "transform": {
                    "location": {
                        "x": 714.107421875,
                        "y": 4296.74853515625,
                        "z": 369.5994567871094
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.3333132266998291,
                        "yaw": -0.3431396186351776
                    }
                },
                "velocity": {
                    "x": 8.08482837677002,
                    "y": -0.04842846840620041,
                    "z": -0.04883679375052452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.266340255737305,
                "transform": {
                    "location": {
                        "x": 713.4926147460938,
                        "y": 4293.50146484375,
                        "z": 369.6129455566406
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -0.4013623893260956,
                        "yaw": -0.33184814453125
                    }
                },
                "velocity": {
                    "x": 8.266059875488281,
                    "y": -0.047579918056726456,
                    "z": -0.04872746020555496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.306106567382812,
                "transform": {
                    "location": {
                        "x": 729.67333984375,
                        "y": 4286.69921875,
                        "z": 369.5085754394531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.32773977518081665,
                        "yaw": 179.5896759033203
                    }
                },
                "velocity": {
                    "x": -11.305606842041016,
                    "y": 0.0826152041554451,
                    "z": 0.0668129175901413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.806859016418457,
                "transform": {
                    "location": {
                        "x": 702.5729370117188,
                        "y": 4286.86279296875,
                        "z": 369.6761779785156
                    },
                    "rotation": {
                        "roll": 0.0013278522528707981,
                        "pitch": 0.24665860831737518,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": -9.80652904510498,
                    "y": 0.057315267622470856,
                    "z": 0.05645699426531792
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0020348643884062767,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.0959167480469
                    },
                    "rotation": {
                        "roll": -3.0517530831275508e-05,
                        "pitch": 0.28893065452575684,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.3092979315842967e-05,
                    "y": 1.59683058882365e-05,
                    "z": 0.0020347596146166325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.142609119415283,
                "transform": {
                    "location": {
                        "x": 714.9100341796875,
                        "y": 4290.041015625,
                        "z": 369.6037292480469
                    },
                    "rotation": {
                        "roll": 0.0011666730279102921,
                        "pitch": 0.29185396432876587,
                        "yaw": 179.66839599609375
                    }
                },
                "velocity": {
                    "x": -6.142393589019775,
                    "y": 0.03756251931190491,
                    "z": 0.03513520210981369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.75556468963623,
                "transform": {
                    "location": {
                        "x": 695.3861694335938,
                        "y": 4290.15771484375,
                        "z": 369.7164306640625
                    },
                    "rotation": {
                        "roll": 0.0010342919267714024,
                        "pitch": 0.34241101145744324,
                        "yaw": 179.67352294921875
                    }
                },
                "velocity": {
                    "x": -8.755279541015625,
                    "y": 0.05005428194999695,
                    "z": 0.04986054450273514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.059484481811523,
                "transform": {
                    "location": {
                        "x": 676.4529418945312,
                        "y": 4290.267578125,
                        "z": 369.8536682128906
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.3259912431240082,
                        "yaw": 179.65704345703125
                    }
                },
                "velocity": {
                    "x": -8.05921459197998,
                    "y": 0.048194970935583115,
                    "z": 0.04494478181004524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021446228027344,
                "transform": {
                    "location": {
                        "x": 657.8929443359375,
                        "y": 4290.376953125,
                        "z": 369.9136657714844
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.30836254358291626,
                        "yaw": 179.65509033203125
                    }
                },
                "velocity": {
                    "x": -8.021178245544434,
                    "y": 0.0482267402112484,
                    "z": 0.04437248036265373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10404053330421448,
        "expert_target_speed": 10.0,
        "target_point": [
            50.811477868719436,
            -1.3974002657548075
        ],
        "target_point_next": [
            101.79425904936699,
            -2.721561685596746
        ]
    },
    "160": {
        "acceleration": [
            -2.393798828125,
            0.10095715522766113,
            0.011332854628562927
        ],
        "angular_velocity": [
            0.13663820922374725,
            -0.47373923659324646,
            -0.7325543165206909
        ],
        "forward_vector": [
            -0.9997669458389282,
            -0.017556676641106606,
            0.012561824172735214
        ],
        "right_vector": [
            0.01754923164844513,
            -0.9998458027839661,
            -0.0007027485407888889
        ],
        "location": [
            678.6671752929688,
            4286.962890625,
            369.8014221191406
        ],
        "rotation": [
            0.0402677059173584,
            0.7197584509849548,
            -178.9939422607422
        ],
        "velocity": [
            -11.10784912109375,
            -0.18630358576774597,
            0.06153349578380585
        ],
        "speed": 11.109411376083484,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 36.18239974975586,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.426071643829346,
                "transform": {
                    "location": {
                        "x": 632.1034545898438,
                        "y": 4297.20947265625,
                        "z": 370.04498291015625
                    },
                    "rotation": {
                        "roll": 0.0002758564369287342,
                        "pitch": -0.27425938844680786,
                        "yaw": -0.08251953125
                    }
                },
                "velocity": {
                    "x": 6.425968647003174,
                    "y": -0.018705230206251144,
                    "z": -0.031224850565195084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.174871444702148,
                "transform": {
                    "location": {
                        "x": 633.8837890625,
                        "y": 4293.953125,
                        "z": 370.0433654785156
                    },
                    "rotation": {
                        "roll": 0.017643770202994347,
                        "pitch": -0.47381702065467834,
                        "yaw": -0.1370544284582138
                    }
                },
                "velocity": {
                    "x": 7.174746513366699,
                    "y": -0.020883264020085335,
                    "z": -0.03684266656637192
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.004215240478516,
                "transform": {
                    "location": {
                        "x": 674.5771484375,
                        "y": 4296.96826171875,
                        "z": 369.8291320800781
                    },
                    "rotation": {
                        "roll": 3.433564052102156e-05,
                        "pitch": -0.3213808834552765,
                        "yaw": -0.5245970487594604
                    }
                },
                "velocity": {
                    "x": 8.003938674926758,
                    "y": -0.050450392067432404,
                    "z": -0.04335552453994751
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.104558944702148,
                "transform": {
                    "location": {
                        "x": 674.446533203125,
                        "y": 4293.73046875,
                        "z": 369.8314514160156
                    },
                    "rotation": {
                        "roll": 0.00024556784774176776,
                        "pitch": -0.30181920528411865,
                        "yaw": -0.316009521484375
                    }
                },
                "velocity": {
                    "x": 8.104297637939453,
                    "y": -0.04664983972907066,
                    "z": -0.04530978575348854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051004409790039,
                "transform": {
                    "location": {
                        "x": 716.1241455078125,
                        "y": 4296.73681640625,
                        "z": 369.5877380371094
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": -0.3346860706806183,
                        "yaw": -0.3492736518383026
                    }
                },
                "velocity": {
                    "x": 8.050713539123535,
                    "y": -0.049111392349004745,
                    "z": -0.04759572818875313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.896605014801025,
                "transform": {
                    "location": {
                        "x": 715.5025024414062,
                        "y": 4293.48974609375,
                        "z": 369.6018371582031
                    },
                    "rotation": {
                        "roll": 0.0012077844003215432,
                        "pitch": -0.47820883989334106,
                        "yaw": -0.3381958305835724
                    }
                },
                "velocity": {
                    "x": 7.896326541900635,
                    "y": -0.04633154347538948,
                    "z": -0.04739871248602867
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.452675819396973,
                "transform": {
                    "location": {
                        "x": 726.8504028320312,
                        "y": 4286.71923828125,
                        "z": 369.5251159667969
                    },
                    "rotation": {
                        "roll": -0.0021362307015806437,
                        "pitch": 0.33404403924942017,
                        "yaw": 179.6337127685547
                    }
                },
                "velocity": {
                    "x": -11.452250480651855,
                    "y": 0.07410401105880737,
                    "z": 0.06527938693761826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.51562213897705,
                "transform": {
                    "location": {
                        "x": 700.177978515625,
                        "y": 4286.8759765625,
                        "z": 369.6900634765625
                    },
                    "rotation": {
                        "roll": 0.0022322332952171564,
                        "pitch": 0.22890011966228485,
                        "yaw": 179.6541290283203
                    }
                },
                "velocity": {
                    "x": -9.515278816223145,
                    "y": 0.05804537609219551,
                    "z": 0.05624482035636902
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001370709273032844,
                "transform": {
                    "location": {
                        "x": 623.1498413085938,
                        "y": 4287.43310546875,
                        "z": 370.0959167480469
                    },
                    "rotation": {
                        "roll": -3.0517530831275508e-05,
                        "pitch": 0.28893065452575684,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.1436975910328329e-05,
                    "y": 4.967479071638081e-06,
                    "z": 0.0013706525787711143
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.813634872436523,
                "transform": {
                    "location": {
                        "x": 713.1893310546875,
                        "y": 4290.05224609375,
                        "z": 369.61468505859375
                    },
                    "rotation": {
                        "roll": 0.0015068628126755357,
                        "pitch": 0.1797022670507431,
                        "yaw": 179.6962890625
                    }
                },
                "velocity": {
                    "x": -7.813380718231201,
                    "y": 0.044646721333265305,
                    "z": 0.04440318048000336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.122428894042969,
                "transform": {
                    "location": {
                        "x": 693.2744140625,
                        "y": 4290.169921875,
                        "z": 369.72808837890625
                    },
                    "rotation": {
                        "roll": 0.0005190051742829382,
                        "pitch": 0.3802024722099304,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -8.122150421142578,
                    "y": 0.0477030873298645,
                    "z": 0.04739491268992424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025375366210938,
                "transform": {
                    "location": {
                        "x": 674.4406127929688,
                        "y": 4290.27978515625,
                        "z": 369.8648376464844
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.3149605095386505,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -8.025107383728027,
                    "y": 0.0479927733540535,
                    "z": 0.04467960074543953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989929676055908,
                "transform": {
                    "location": {
                        "x": 655.8920288085938,
                        "y": 4290.388671875,
                        "z": 369.9244079589844
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": 0.306135892868042,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -7.989668369293213,
                    "y": 0.04813193157315254,
                    "z": 0.043114423751831055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.13636916875839233,
        "expert_target_speed": 10.0,
        "target_point": [
            48.114229318611585,
            -1.2722396095391422
        ],
        "target_point_next": [
            99.10016221735192,
            -2.4689128417691344
        ]
    },
    "165": {
        "acceleration": [
            -0.5113029479980469,
            0.1426905393600464,
            0.01973189413547516
        ],
        "angular_velocity": [
            0.07489073276519775,
            -0.6983626484870911,
            -0.7875028252601624
        ],
        "forward_vector": [
            -0.9998502135276794,
            -0.014193227514624596,
            0.009904340840876102
        ],
        "right_vector": [
            0.014184638857841492,
            -0.9998989701271057,
            -0.0009369432809762657
        ],
        "location": [
            675.8441772460938,
            4286.919921875,
            369.8175964355469
        ],
        "rotation": [
            0.05368553847074509,
            0.5674862265586853,
            -179.1867218017578
        ],
        "velocity": [
            -11.41128158569336,
            -0.1546216458082199,
            0.06301254034042358
        ],
        "speed": 11.412329091002274,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 33.35908889770508,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.466559410095215,
                "transform": {
                    "location": {
                        "x": 634.0431518554688,
                        "y": 4297.203125,
                        "z": 370.0345153808594
                    },
                    "rotation": {
                        "roll": 0.0001350678357994184,
                        "pitch": -0.18530301749706268,
                        "yaw": -0.1678466796875
                    }
                },
                "velocity": {
                    "x": 8.46640396118164,
                    "y": -0.03003440611064434,
                    "z": -0.04172059893608093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.995335102081299,
                "transform": {
                    "location": {
                        "x": 635.4558715820312,
                        "y": 4293.947265625,
                        "z": 370.0364074707031
                    },
                    "rotation": {
                        "roll": 0.008800207637250423,
                        "pitch": -0.7604936957359314,
                        "yaw": -0.1743469387292862
                    }
                },
                "velocity": {
                    "x": 5.995219707489014,
                    "y": -0.0195538979023695,
                    "z": -0.031683266162872314
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.097915649414062,
                "transform": {
                    "location": {
                        "x": 676.5912475585938,
                        "y": 4296.9560546875,
                        "z": 369.8180236816406
                    },
                    "rotation": {
                        "roll": -3.0517550840158947e-05,
                        "pitch": -0.31494683027267456,
                        "yaw": -0.4804076850414276
                    }
                },
                "velocity": {
                    "x": 8.097661972045898,
                    "y": -0.04555891081690788,
                    "z": -0.045056842267513275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.017290115356445,
                "transform": {
                    "location": {
                        "x": 676.462158203125,
                        "y": 4293.71875,
                        "z": 369.8203125
                    },
                    "rotation": {
                        "roll": 0.0007164485868997872,
                        "pitch": -0.32767146825790405,
                        "yaw": -0.3448485732078552
                    }
                },
                "velocity": {
                    "x": 8.01702880859375,
                    "y": -0.046223048120737076,
                    "z": -0.045287568122148514
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085009574890137,
                "transform": {
                    "location": {
                        "x": 718.1412963867188,
                        "y": 4296.72509765625,
                        "z": 369.5759582519531
                    },
                    "rotation": {
                        "roll": 0.0006696743075735867,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.3507995009422302
                    }
                },
                "velocity": {
                    "x": 8.08471393585205,
                    "y": -0.04870752617716789,
                    "z": -0.04905559495091438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075597763061523,
                "transform": {
                    "location": {
                        "x": 717.4934692382812,
                        "y": 4293.47802734375,
                        "z": 369.5888671875
                    },
                    "rotation": {
                        "roll": 0.001126154325902462,
                        "pitch": -0.32101887464523315,
                        "yaw": -0.342132568359375
                    }
                },
                "velocity": {
                    "x": 8.075311660766602,
                    "y": -0.049278225749731064,
                    "z": -0.04691370204091072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.887994766235352,
                "transform": {
                    "location": {
                        "x": 724.0245971679688,
                        "y": 4286.73681640625,
                        "z": 369.54144287109375
                    },
                    "rotation": {
                        "roll": -0.0007934567984193563,
                        "pitch": 0.32256248593330383,
                        "yaw": 179.64773559570312
                    }
                },
                "velocity": {
                    "x": -10.887592315673828,
                    "y": 0.06810726225376129,
                    "z": 0.06424932181835175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.361299514770508,
                "transform": {
                    "location": {
                        "x": 697.7025146484375,
                        "y": 4286.8916015625,
                        "z": 369.70257568359375
                    },
                    "rotation": {
                        "roll": 0.0006626890390180051,
                        "pitch": 0.48275092244148254,
                        "yaw": 179.6506805419922
                    }
                },
                "velocity": {
                    "x": -10.360943794250488,
                    "y": 0.06302308291196823,
                    "z": 0.05820591002702713
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5022174119949341,
                "transform": {
                    "location": {
                        "x": 623.1309814453125,
                        "y": 4287.43310546875,
                        "z": 370.0959167480469
                    },
                    "rotation": {
                        "roll": -0.0034484858624637127,
                        "pitch": 0.3728873133659363,
                        "yaw": 179.6427459716797
                    }
                },
                "velocity": {
                    "x": -0.5022083520889282,
                    "y": -0.001663471688516438,
                    "z": 0.002508897799998522
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2058410644531
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.85656452178955,
                "transform": {
                    "location": {
                        "x": 711.0926513671875,
                        "y": 4290.0634765625,
                        "z": 369.6265869140625
                    },
                    "rotation": {
                        "roll": 0.0009818340186029673,
                        "pitch": 0.21146264672279358,
                        "yaw": 179.6552276611328
                    }
                },
                "velocity": {
                    "x": -8.8562593460083,
                    "y": 0.0533650778234005,
                    "z": 0.050636641681194305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.225723743438721,
                "transform": {
                    "location": {
                        "x": 691.4923095703125,
                        "y": 4290.18310546875,
                        "z": 369.7374267578125
                    },
                    "rotation": {
                        "roll": 0.003311899257823825,
                        "pitch": 0.49243611097335815,
                        "yaw": -179.94485473632812
                    }
                },
                "velocity": {
                    "x": -6.22554349899292,
                    "y": 0.03187050670385361,
                    "z": 0.0350455567240715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997804641723633,
                "transform": {
                    "location": {
                        "x": 672.441162109375,
                        "y": 4290.291015625,
                        "z": 369.8758544921875
                    },
                    "rotation": {
                        "roll": 0.00030360088567249477,
                        "pitch": 0.3168866038322449,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -7.997539520263672,
                    "y": 0.04790263995528221,
                    "z": 0.04405589774250984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021566390991211,
                "transform": {
                    "location": {
                        "x": 653.890869140625,
                        "y": 4290.400390625,
                        "z": 369.93511962890625
                    },
                    "rotation": {
                        "roll": 0.0008985744207166135,
                        "pitch": 0.30599245429039,
                        "yaw": 179.65383911132812
                    }
                },
                "velocity": {
                    "x": -8.021309852600098,
                    "y": 0.04913884401321411,
                    "z": 0.041216373443603516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1618470400571823,
        "expert_target_speed": 10.0,
        "target_point": [
            45.29491395085994,
            -1.1132440786099953
        ],
        "target_point_next": [
            96.28458453711949,
            -2.138365478408696
        ]
    },
    "170": {
        "acceleration": [
            1.9309425354003906,
            0.1819351315498352,
            -0.0176180899143219
        ],
        "angular_velocity": [
            0.041978929191827774,
            -0.9987307786941528,
            -0.7981358170509338
        ],
        "forward_vector": [
            -0.9999226927757263,
            -0.010726661421358585,
            0.0062892017886042595
        ],
        "right_vector": [
            0.010720321908593178,
            -0.9999420046806335,
            -0.0010408487869426608
        ],
        "location": [
            673.0067749023438,
            4286.8857421875,
            369.833984375
        ],
        "rotation": [
            0.05963743478059769,
            0.36034709215164185,
            -179.38539123535156
        ],
        "velocity": [
            -11.180425643920898,
            -0.11288194358348846,
            0.0622706413269043
        ],
        "speed": 11.180995479492479,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.52159309387207,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 595.0006713867188,
                        "y": 4297.3505859375,
                        "z": 370.52459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26208117604255676,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 596.7645263671875,
                        "y": 4294.09033203125,
                        "z": 370.3814392089844
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.035792350769043,
                "transform": {
                    "location": {
                        "x": 636.1211547851562,
                        "y": 4297.19580078125,
                        "z": 370.0247497558594
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.2837192118167877,
                        "yaw": -0.1988830715417862
                    }
                },
                "velocity": {
                    "x": 8.035640716552734,
                    "y": -0.027614673599600792,
                    "z": -0.04086427018046379
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.529158115386963,
                "transform": {
                    "location": {
                        "x": 636.9764404296875,
                        "y": 4293.94091796875,
                        "z": 370.0272216796875
                    },
                    "rotation": {
                        "roll": 0.00810182187706232,
                        "pitch": -0.4014853239059448,
                        "yaw": -0.168670654296875
                    }
                },
                "velocity": {
                    "x": 6.529018878936768,
                    "y": -0.028029203414916992,
                    "z": -0.03214728832244873
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.016207695007324,
                "transform": {
                    "location": {
                        "x": 678.6052856445312,
                        "y": 4296.94482421875,
                        "z": 369.80682373046875
                    },
                    "rotation": {
                        "roll": 0.00034273616620339453,
                        "pitch": -0.32375776767730713,
                        "yaw": -0.5172423720359802
                    }
                },
                "velocity": {
                    "x": 8.015929222106934,
                    "y": -0.05026860162615776,
                    "z": -0.044039852917194366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036545753479004,
                "transform": {
                    "location": {
                        "x": 678.4657592773438,
                        "y": 4293.70703125,
                        "z": 369.8092041015625
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.3211691379547119,
                        "yaw": -0.3245238959789276
                    }
                },
                "velocity": {
                    "x": 8.036282539367676,
                    "y": -0.047477368265390396,
                    "z": -0.04451233893632889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051880836486816,
                "transform": {
                    "location": {
                        "x": 720.1582641601562,
                        "y": 4296.71337890625,
                        "z": 369.5642395019531
                    },
                    "rotation": {
                        "roll": 0.00014830470900051296,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3515625
                    }
                },
                "velocity": {
                    "x": 8.051586151123047,
                    "y": -0.04966559633612633,
                    "z": -0.0477401502430439
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.145299911499023,
                "transform": {
                    "location": {
                        "x": 719.5291748046875,
                        "y": 4293.46630859375,
                        "z": 369.5767822265625
                    },
                    "rotation": {
                        "roll": 0.00012284290278330445,
                        "pitch": -0.2816428244113922,
                        "yaw": -0.347991943359375
                    }
                },
                "velocity": {
                    "x": 8.145008087158203,
                    "y": -0.0494992621243,
                    "z": -0.047998107969760895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.011860847473145,
                "transform": {
                    "location": {
                        "x": 721.3087158203125,
                        "y": 4286.75439453125,
                        "z": 369.5572204589844
                    },
                    "rotation": {
                        "roll": 0.00011948789324378595,
                        "pitch": 0.3320906162261963,
                        "yaw": 179.6481475830078
                    }
                },
                "velocity": {
                    "x": -11.011467933654785,
                    "y": 0.06738705188035965,
                    "z": 0.06416230648756027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.031512260437012,
                "transform": {
                    "location": {
                        "x": 695.0573120117188,
                        "y": 4286.9072265625,
                        "z": 369.7171325683594
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": 0.529264509677887,
                        "yaw": 179.650390625
                    }
                },
                "velocity": {
                    "x": -11.031129837036133,
                    "y": 0.06733336299657822,
                    "z": 0.06250617653131485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5394951105117798,
                "transform": {
                    "location": {
                        "x": 622.8504638671875,
                        "y": 4287.431640625,
                        "z": 370.0963134765625
                    },
                    "rotation": {
                        "roll": -0.012786866165697575,
                        "pitch": 0.6482532024383545,
                        "yaw": 179.71163940429688
                    }
                },
                "velocity": {
                    "x": -1.5394545793533325,
                    "y": -0.009186056442558765,
                    "z": 0.006339816842228174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.022012436762452126,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2126159667969
                    },
                    "rotation": {
                        "roll": 0.00043743214337155223,
                        "pitch": 0.27211472392082214,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0001107219941332005,
                    "y": 8.378318307222798e-05,
                    "z": 0.022011999040842056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.882501602172852,
                "transform": {
                    "location": {
                        "x": 708.8237915039062,
                        "y": 4290.07763671875,
                        "z": 369.6389465332031
                    },
                    "rotation": {
                        "roll": 0.0014397816266864538,
                        "pitch": 0.309202641248703,
                        "yaw": 179.68038940429688
                    }
                },
                "velocity": {
                    "x": -8.882196426391602,
                    "y": 0.05260713770985603,
                    "z": 0.05147374048829079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.135659217834473,
                "transform": {
                    "location": {
                        "x": 689.9696655273438,
                        "y": 4290.189453125,
                        "z": 369.7471008300781
                    },
                    "rotation": {
                        "roll": 0.0012531529646366835,
                        "pitch": 0.3642198145389557,
                        "yaw": 179.83883666992188
                    }
                },
                "velocity": {
                    "x": -6.135462284088135,
                    "y": 0.03587440773844719,
                    "z": 0.03367872163653374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.061830520629883,
                "transform": {
                    "location": {
                        "x": 670.4313354492188,
                        "y": 4290.30322265625,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": 0.00045434871572069824,
                        "pitch": 0.31822532415390015,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -8.061566352844238,
                    "y": 0.04821661859750748,
                    "z": 0.043967608362436295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989541053771973,
                "transform": {
                    "location": {
                        "x": 651.889892578125,
                        "y": 4290.412109375,
                        "z": 369.94573974609375
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": 0.3050089180469513,
                        "yaw": 179.65133666992188
                    }
                },
                "velocity": {
                    "x": -7.989287376403809,
                    "y": 0.04855939373373985,
                    "z": 0.04121844097971916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.18271704018115997,
        "expert_target_speed": 10.0,
        "target_point": [
            42.460896135747525,
            -0.9599165353902174
        ],
        "target_point_next": [
            93.45381483579965,
            -1.8082223938285904
        ]
    },
    "175": {
        "acceleration": [
            9.64630126953125,
            0.20723164081573486,
            -0.04811227321624756
        ],
        "angular_velocity": [
            -0.010874873027205467,
            -2.2038891315460205,
            -0.7650896310806274
        ],
        "forward_vector": [
            -0.9999693632125854,
            -0.0073183155618608,
            0.002780552953481674
        ],
        "right_vector": [
            0.007315486669540405,
            -0.9999727010726929,
            -0.0010263052536174655
        ],
        "location": [
            670.286376953125,
            4286.8623046875,
            369.84967041015625
        ],
        "rotation": [
            0.058803196996450424,
            0.15931415557861328,
            -179.5806884765625
        ],
        "velocity": [
            -10.37778091430664,
            -0.06899881362915039,
            0.058053482323884964
        ],
        "speed": 10.378010288182866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.801361083984375,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 597.0491943359375,
                        "y": 4297.33837890625,
                        "z": 370.2281799316406
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.8461303710938,
                        "y": 4294.078125,
                        "z": 370.2992858886719
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.939342498779297,
                "transform": {
                    "location": {
                        "x": 638.0968017578125,
                        "y": 4297.1875,
                        "z": 370.0146484375
                    },
                    "rotation": {
                        "roll": 0.0011294832220301032,
                        "pitch": -0.3039229214191437,
                        "yaw": -0.2407837063074112
                    }
                },
                "velocity": {
                    "x": 7.939146995544434,
                    "y": -0.037519581615924835,
                    "z": -0.04115760326385498
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.30835247039795,
                "transform": {
                    "location": {
                        "x": 638.8909912109375,
                        "y": 4293.93310546875,
                        "z": 370.01513671875
                    },
                    "rotation": {
                        "roll": 0.005013602320104837,
                        "pitch": 0.1958693265914917,
                        "yaw": -0.2039184272289276
                    }
                },
                "velocity": {
                    "x": 8.308165550231934,
                    "y": -0.03625556454062462,
                    "z": -0.04237395524978638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08411693572998,
                "transform": {
                    "location": {
                        "x": 680.6174926757812,
                        "y": 4296.93310546875,
                        "z": 369.7955627441406
                    },
                    "rotation": {
                        "roll": 6.0354985180310905e-05,
                        "pitch": -0.3208276331424713,
                        "yaw": -0.49649035930633545
                    }
                },
                "velocity": {
                    "x": 8.083846092224121,
                    "y": -0.04818154126405716,
                    "z": -0.04543248191475868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.058856010437012,
                "transform": {
                    "location": {
                        "x": 680.4801635742188,
                        "y": 4293.6953125,
                        "z": 369.7979736328125
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.3178360164165497,
                        "yaw": -0.3523559868335724
                    }
                },
                "velocity": {
                    "x": 8.058588981628418,
                    "y": -0.04791848734021187,
                    "z": -0.04487549513578415
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084917068481445,
                "transform": {
                    "location": {
                        "x": 722.17529296875,
                        "y": 4296.70166015625,
                        "z": 369.5525207519531
                    },
                    "rotation": {
                        "roll": 0.00017802653019316494,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3529052734375
                    }
                },
                "velocity": {
                    "x": 8.084620475769043,
                    "y": -0.0498206689953804,
                    "z": -0.048124369233846664
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070884704589844,
                "transform": {
                    "location": {
                        "x": 721.5551147460938,
                        "y": 4293.455078125,
                        "z": 369.56561279296875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.35607823729515076,
                        "yaw": -0.349029541015625
                    }
                },
                "velocity": {
                    "x": 8.070589065551758,
                    "y": -0.04911324754357338,
                    "z": -0.048590000718832016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.613508224487305,
                "transform": {
                    "location": {
                        "x": 718.470947265625,
                        "y": 4286.77197265625,
                        "z": 369.5736389160156
                    },
                    "rotation": {
                        "roll": 0.0005559688434004784,
                        "pitch": 0.34657061100006104,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -11.61310863494873,
                    "y": 0.06955449283123016,
                    "z": 0.06660068035125732
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.020082473754883,
                "transform": {
                    "location": {
                        "x": 692.2734375,
                        "y": 4286.9248046875,
                        "z": 369.7341003417969
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.3896622657775879,
                        "yaw": 179.6503143310547
                    }
                },
                "velocity": {
                    "x": -11.019689559936523,
                    "y": 0.06720814108848572,
                    "z": 0.06428266316652298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.4582808017730713,
                "transform": {
                    "location": {
                        "x": 622.3468017578125,
                        "y": 4287.42919921875,
                        "z": 370.0986328125
                    },
                    "rotation": {
                        "roll": -0.014801024459302425,
                        "pitch": 0.6789003014564514,
                        "yaw": 179.9035186767578
                    }
                },
                "velocity": {
                    "x": -2.4581923484802246,
                    "y": -0.017244825139641762,
                    "z": 0.011689414270222187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004490923136472702,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2153015136719
                    },
                    "rotation": {
                        "roll": 4.320266089052893e-05,
                        "pitch": 0.2720259428024292,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 3.124795694020577e-05,
                    "y": -6.754721107427031e-05,
                    "z": 0.004490306600928307
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.357167720794678,
                "transform": {
                    "location": {
                        "x": 706.7540283203125,
                        "y": 4290.08935546875,
                        "z": 369.64990234375
                    },
                    "rotation": {
                        "roll": 0.0014246973441913724,
                        "pitch": 0.44615477323532104,
                        "yaw": 179.6642303466797
                    }
                },
                "velocity": {
                    "x": -7.3569159507751465,
                    "y": 0.04277082532644272,
                    "z": 0.04324145242571831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.504207134246826,
                "transform": {
                    "location": {
                        "x": 688.3711547851562,
                        "y": 4290.19873046875,
                        "z": 369.756591796875
                    },
                    "rotation": {
                        "roll": 0.001467310474254191,
                        "pitch": 0.294743150472641,
                        "yaw": 179.77572631835938
                    }
                },
                "velocity": {
                    "x": -6.504003047943115,
                    "y": 0.035964932292699814,
                    "z": 0.03689070791006088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993715286254883,
                "transform": {
                    "location": {
                        "x": 668.42529296875,
                        "y": 4290.314453125,
                        "z": 369.8978576660156
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.31246066093444824,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -7.99345064163208,
                    "y": 0.04782574251294136,
                    "z": 0.0441250205039978
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02168083190918,
                "transform": {
                    "location": {
                        "x": 649.8886108398438,
                        "y": 4290.423828125,
                        "z": 369.95635986328125
                    },
                    "rotation": {
                        "roll": 0.0005123265436850488,
                        "pitch": 0.30468788743019104,
                        "yaw": 179.6505889892578
                    }
                },
                "velocity": {
                    "x": -8.02142333984375,
                    "y": 0.04883188754320145,
                    "z": 0.04167170450091362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2146647572517395,
        "expert_target_speed": 10.0,
        "target_point": [
            39.74342467457308,
            -0.8187139565167547
        ],
        "target_point_next": [
            90.73893855936322,
            -1.4932093277115364
        ]
    },
    "180": {
        "acceleration": [
            6.342334747314453,
            0.13021141290664673,
            -0.025187432765960693
        ],
        "angular_velocity": [
            -0.053912680596113205,
            -0.6228528618812561,
            -0.6528759002685547
        ],
        "forward_vector": [
            -0.9999812245368958,
            -0.0041388049721717834,
            -0.0045118173584342
        ],
        "right_vector": [
            0.0041430299170315266,
            -0.9999909996986389,
            -0.0009274477488361299
        ],
        "location": [
            667.9569091796875,
            4286.85009765625,
            369.864013671875
        ],
        "rotation": [
            0.05313938856124878,
            -0.25850898027420044,
            -179.7628631591797
        ],
        "velocity": [
            -8.547962188720703,
            -0.02770986035466194,
            0.04746261611580849
        ],
        "speed": 8.548007102018559,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.472286224365234,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 599.13232421875,
                        "y": 4297.326171875,
                        "z": 370.2171325683594
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.178455352783203,
                "transform": {
                    "location": {
                        "x": 600.8905029296875,
                        "y": 4294.07177734375,
                        "z": 370.2200622558594
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": -0.27279090881347656,
                        "yaw": -0.0956420823931694
                    }
                },
                "velocity": {
                    "x": 8.175292015075684,
                    "y": 0.03560889884829521,
                    "z": -0.22467666864395142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.13758659362793,
                "transform": {
                    "location": {
                        "x": 640.1173095703125,
                        "y": 4297.17822265625,
                        "z": 370.00396728515625
                    },
                    "rotation": {
                        "roll": 0.0009820744162425399,
                        "pitch": -0.2906177043914795,
                        "yaw": -0.26959228515625
                    }
                },
                "velocity": {
                    "x": 8.13739013671875,
                    "y": -0.038136135786771774,
                    "z": -0.04166322574019432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.097098350524902,
                "transform": {
                    "location": {
                        "x": 640.965087890625,
                        "y": 4293.923828125,
                        "z": 370.005615234375
                    },
                    "rotation": {
                        "roll": 0.003533108625560999,
                        "pitch": -0.1262218952178955,
                        "yaw": -0.269927978515625
                    }
                },
                "velocity": {
                    "x": 8.09688949584961,
                    "y": -0.038479410111904144,
                    "z": -0.043697647750377655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.023369789123535,
                "transform": {
                    "location": {
                        "x": 682.6312866210938,
                        "y": 4296.9208984375,
                        "z": 369.7843322753906
                    },
                    "rotation": {
                        "roll": 0.0020149839110672474,
                        "pitch": -0.3227537274360657,
                        "yaw": -0.5172728896141052
                    }
                },
                "velocity": {
                    "x": 8.023082733154297,
                    "y": -0.051088910549879074,
                    "z": -0.04466230794787407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.028312683105469,
                "transform": {
                    "location": {
                        "x": 682.4901123046875,
                        "y": 4293.68359375,
                        "z": 369.7867431640625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.3217163383960724
                    }
                },
                "velocity": {
                    "x": 8.028058052062988,
                    "y": -0.04592842981219292,
                    "z": -0.04466550424695015
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051680564880371,
                "transform": {
                    "location": {
                        "x": 724.1921997070312,
                        "y": 4296.68994140625,
                        "z": 369.5408020019531
                    },
                    "rotation": {
                        "roll": 1.0422217255889876e-10,
                        "pitch": -0.33278727531433105,
                        "yaw": -0.3530273139476776
                    }
                },
                "velocity": {
                    "x": 8.051387786865234,
                    "y": -0.04958656057715416,
                    "z": -0.04752282425761223
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.036542892456055,
                "transform": {
                    "location": {
                        "x": 723.5652465820312,
                        "y": 4293.44287109375,
                        "z": 369.5538635253906
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.35165226459503174,
                        "yaw": -0.3519287109375
                    }
                },
                "velocity": {
                    "x": 8.036245346069336,
                    "y": -0.049335528165102005,
                    "z": -0.04846625775098801
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.256977081298828,
                "transform": {
                    "location": {
                        "x": 715.4866943359375,
                        "y": 4286.78955078125,
                        "z": 369.5909423828125
                    },
                    "rotation": {
                        "roll": 0.00023262771719601005,
                        "pitch": 0.3494392931461334,
                        "yaw": 179.65821838378906
                    }
                },
                "velocity": {
                    "x": -12.25656509399414,
                    "y": 0.07168170809745789,
                    "z": 0.07047323137521744
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.726150512695312,
                "transform": {
                    "location": {
                        "x": 689.673095703125,
                        "y": 4286.94091796875,
                        "z": 369.751708984375
                    },
                    "rotation": {
                        "roll": 0.0007027352112345397,
                        "pitch": 0.05601437762379646,
                        "yaw": 179.6501922607422
                    }
                },
                "velocity": {
                    "x": -9.725811004638672,
                    "y": 0.05929751321673393,
                    "z": 0.05560675635933876
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5889246463775635,
                "transform": {
                    "location": {
                        "x": 621.5692138671875,
                        "y": 4287.4248046875,
                        "z": 370.10211181640625
                    },
                    "rotation": {
                        "roll": -0.014221186749637127,
                        "pitch": 0.7749532461166382,
                        "yaw": -179.8896942138672
                    }
                },
                "velocity": {
                    "x": -3.588775157928467,
                    "y": -0.027403350919485092,
                    "z": 0.017947673797607422
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017036664066836238,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2156982421875
                    },
                    "rotation": {
                        "roll": -9.155266889138147e-05,
                        "pitch": 0.27214205265045166,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6511081412318163e-05,
                    "y": -0.00021621683845296502,
                    "z": 0.0016898097237572074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.172697067260742,
                "transform": {
                    "location": {
                        "x": 705.1346435546875,
                        "y": 4290.10009765625,
                        "z": 369.6592102050781
                    },
                    "rotation": {
                        "roll": 0.0010910534765571356,
                        "pitch": 0.45042362809181213,
                        "yaw": 179.91180419921875
                    }
                },
                "velocity": {
                    "x": -6.172497272491455,
                    "y": 0.03341805934906006,
                    "z": 0.03673848882317543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.433382034301758,
                "transform": {
                    "location": {
                        "x": 686.446533203125,
                        "y": 4290.20947265625,
                        "z": 369.7685852050781
                    },
                    "rotation": {
                        "roll": 0.0003718578373081982,
                        "pitch": 0.1675923466682434,
                        "yaw": 179.7291717529297
                    }
                },
                "velocity": {
                    "x": -8.433104515075684,
                    "y": 0.04915420338511467,
                    "z": 0.047523707151412964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048177719116211,
                "transform": {
                    "location": {
                        "x": 666.4207153320312,
                        "y": 4290.326171875,
                        "z": 369.9088134765625
                    },
                    "rotation": {
                        "roll": 0.00039257999742403626,
                        "pitch": 0.31623774766921997,
                        "yaw": 179.6533966064453
                    }
                },
                "velocity": {
                    "x": -8.047904014587402,
                    "y": 0.04874217510223389,
                    "z": 0.04511239752173424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9895782470703125,
                "transform": {
                    "location": {
                        "x": 647.8875732421875,
                        "y": 4290.435546875,
                        "z": 369.96697998046875
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.304503470659256,
                        "yaw": 179.65025329589844
                    }
                },
                "velocity": {
                    "x": -7.989323616027832,
                    "y": 0.04874318838119507,
                    "z": 0.04112241789698601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2744930386543274,
        "expert_target_speed": 10.0,
        "target_point": [
            37.41632857391256,
            -0.6949092021864056
        ],
        "target_point_next": [
            88.41372927660355,
            -1.2072586422759146
        ]
    },
    "185": {
        "acceleration": [
            1.5135669708251953,
            0.08791686594486237,
            0.004988089203834534
        ],
        "angular_velocity": [
            -0.07158777862787247,
            1.0832643508911133,
            -0.5788275003433228
        ],
        "forward_vector": [
            -0.9999902248382568,
            -0.0015214862069115043,
            -0.004161822143942118
        ],
        "right_vector": [
            0.0015245107933878899,
            -0.9999986290931702,
            -0.0007236747187562287
        ],
        "location": [
            665.9844360351562,
            4286.84619140625,
            369.8747253417969
        ],
        "rotation": [
            0.04146386682987213,
            -0.23845554888248444,
            -179.91282653808594
        ],
        "velocity": [
            -7.456635475158691,
            -0.0023198958951979876,
            0.040753211826086044
        ],
        "speed": 7.456635836039738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.500410079956055,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0448637008667,
                "transform": {
                    "location": {
                        "x": 601.169677734375,
                        "y": 4297.32666015625,
                        "z": 370.2095642089844
                    },
                    "rotation": {
                        "roll": -0.0599365197122097,
                        "pitch": -0.30245441198349,
                        "yaw": 0.0892743170261383
                    }
                },
                "velocity": {
                    "x": 8.044669151306152,
                    "y": 0.0484854057431221,
                    "z": -0.027933720499277115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.956844806671143,
                "transform": {
                    "location": {
                        "x": 602.9052124023438,
                        "y": 4294.07763671875,
                        "z": 370.1921691894531
                    },
                    "rotation": {
                        "roll": -0.0033874509390443563,
                        "pitch": -0.27136340737342834,
                        "yaw": 0.231839120388031
                    }
                },
                "velocity": {
                    "x": 7.956630706787109,
                    "y": 0.031077804043889046,
                    "z": -0.04940309375524521
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022583961486816,
                "transform": {
                    "location": {
                        "x": 642.1370239257812,
                        "y": 4297.16845703125,
                        "z": 369.9935607910156
                    },
                    "rotation": {
                        "roll": 0.0011457570362836123,
                        "pitch": -0.3055143356323242,
                        "yaw": -0.2826537787914276
                    }
                },
                "velocity": {
                    "x": 8.02236557006836,
                    "y": -0.042376600205898285,
                    "z": -0.041358351707458496
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.840007781982422,
                "transform": {
                    "location": {
                        "x": 642.9334106445312,
                        "y": 4293.9140625,
                        "z": 369.9959716796875
                    },
                    "rotation": {
                        "roll": 0.00503463763743639,
                        "pitch": -0.3405122458934784,
                        "yaw": -0.2757262587547302
                    }
                },
                "velocity": {
                    "x": 7.8397955894470215,
                    "y": -0.04075726494193077,
                    "z": -0.040830276906490326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.083466529846191,
                "transform": {
                    "location": {
                        "x": 684.6446533203125,
                        "y": 4296.9091796875,
                        "z": 369.77301025390625
                    },
                    "rotation": {
                        "roll": -6.103526538936421e-05,
                        "pitch": -0.32364165782928467,
                        "yaw": -0.5029295682907104
                    }
                },
                "velocity": {
                    "x": 8.08319091796875,
                    "y": -0.04918846860527992,
                    "z": -0.04518427699804306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047083854675293,
                "transform": {
                    "location": {
                        "x": 684.4990234375,
                        "y": 4293.671875,
                        "z": 369.7754211425781
                    },
                    "rotation": {
                        "roll": 0.00031931872945278883,
                        "pitch": -0.3240378201007843,
                        "yaw": -0.3423766493797302
                    }
                },
                "velocity": {
                    "x": 8.046825408935547,
                    "y": -0.046188801527023315,
                    "z": -0.04502088949084282
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084815979003906,
                "transform": {
                    "location": {
                        "x": 726.2091064453125,
                        "y": 4296.67822265625,
                        "z": 369.529052734375
                    },
                    "rotation": {
                        "roll": 0.0015088958898559213,
                        "pitch": -0.3320291340351105,
                        "yaw": -0.35302734375
                    }
                },
                "velocity": {
                    "x": 8.084524154663086,
                    "y": -0.049795787781476974,
                    "z": -0.047392863780260086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.113238334655762,
                "transform": {
                    "location": {
                        "x": 725.5856323242188,
                        "y": 4293.431640625,
                        "z": 369.5418701171875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.3213467299938202,
                        "yaw": -0.35205078125
                    }
                },
                "velocity": {
                    "x": 8.112937927246094,
                    "y": -0.04987257719039917,
                    "z": -0.048761747777462006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.574917793273926,
                "transform": {
                    "location": {
                        "x": 712.5071411132812,
                        "y": 4286.80712890625,
                        "z": 369.60845947265625
                    },
                    "rotation": {
                        "roll": -0.00021362291590776294,
                        "pitch": 0.3229108452796936,
                        "yaw": 179.66448974609375
                    }
                },
                "velocity": {
                    "x": -11.574516296386719,
                    "y": 0.06818021833896637,
                    "z": 0.06812530010938644
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.466639518737793,
                "transform": {
                    "location": {
                        "x": 687.4110107421875,
                        "y": 4286.95458984375,
                        "z": 369.7650451660156
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -0.015928000211715698,
                        "yaw": 179.65292358398438
                    }
                },
                "velocity": {
                    "x": -8.46635627746582,
                    "y": 0.05032292380928993,
                    "z": 0.04762079194188118
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6397078037261963,
                "transform": {
                    "location": {
                        "x": 620.778076171875,
                        "y": 4287.419921875,
                        "z": 370.10784912109375
                    },
                    "rotation": {
                        "roll": 0.012792698107659817,
                        "pitch": 0.26828980445861816,
                        "yaw": -179.8018798828125
                    }
                },
                "velocity": {
                    "x": -2.6396684646606445,
                    "y": -0.006346930284053087,
                    "z": 0.012944201938807964
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015406184829771519,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158203125
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 0.2719644606113434,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 2.2805965272709727e-05,
                    "y": -0.00021870058844797313,
                    "z": 0.0015248459530994296
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.538610935211182,
                "transform": {
                    "location": {
                        "x": 703.5631713867188,
                        "y": 4290.10791015625,
                        "z": 369.6695251464844
                    },
                    "rotation": {
                        "roll": -0.0001525877887615934,
                        "pitch": 0.3171803057193756,
                        "yaw": 179.74417114257812
                    }
                },
                "velocity": {
                    "x": -6.538387775421143,
                    "y": 0.03913063555955887,
                    "z": 0.037259768694639206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.411839485168457,
                "transform": {
                    "location": {
                        "x": 684.2010498046875,
                        "y": 4290.22265625,
                        "z": 369.7808837890625
                    },
                    "rotation": {
                        "roll": 0.0011306898668408394,
                        "pitch": 0.2134980410337448,
                        "yaw": 179.68299865722656
                    }
                },
                "velocity": {
                    "x": -9.41154670715332,
                    "y": 0.05227138102054596,
                    "z": 0.05278708413243294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009364128112793,
                "transform": {
                    "location": {
                        "x": 664.4129028320312,
                        "y": 4290.337890625,
                        "z": 369.919677734375
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.312740683555603,
                        "yaw": 179.64974975585938
                    }
                },
                "velocity": {
                    "x": -8.009087562561035,
                    "y": 0.049186818301677704,
                    "z": 0.044763125479221344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021677017211914,
                "transform": {
                    "location": {
                        "x": 645.8862915039062,
                        "y": 4290.447265625,
                        "z": 369.97747802734375
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.30219486355781555,
                        "yaw": 179.6493682861328
                    }
                },
                "velocity": {
                    "x": -8.021413803100586,
                    "y": 0.04986640438437462,
                    "z": 0.0415843203663826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2965697646141052,
        "expert_target_speed": 10.0,
        "target_point": [
            35.445542432427594,
            -0.5978798962495939
        ],
        "target_point_next": [
            86.44410945558239,
            -0.9767492198624901
        ]
    },
    "190": {
        "acceleration": [
            6.2908172607421875,
            0.06684619188308716,
            -0.04963625222444534
        ],
        "angular_velocity": [
            0.01606903225183487,
            -0.15257050096988678,
            0.5642534494400024
        ],
        "forward_vector": [
            -0.9999697208404541,
            0.00018396614177618176,
            -0.007782737258821726
        ],
        "right_vector": [
            -0.00018024285964202136,
            -0.9999998807907104,
            -0.00047910105786286294
        ],
        "location": [
            664.4065551757812,
            4286.8466796875,
            369.8840637207031
        ],
        "rotation": [
            0.027451300993561745,
            -0.44592252373695374,
            179.9894561767578
        ],
        "velocity": [
            -5.336984157562256,
            0.009817177429795265,
            0.028648052364587784
        ],
        "speed": 5.33699318671508,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.923194885253906,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.269142150878906,
                "transform": {
                    "location": {
                        "x": 603.2105102539062,
                        "y": 4297.3349609375,
                        "z": 370.2010498046875
                    },
                    "rotation": {
                        "roll": 0.0011152559891343117,
                        "pitch": -0.26812589168548584,
                        "yaw": 0.3124909996986389
                    }
                },
                "velocity": {
                    "x": 8.268996238708496,
                    "y": 0.030991962179541588,
                    "z": -0.03822054713964462
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.153711318969727,
                "transform": {
                    "location": {
                        "x": 604.9202880859375,
                        "y": 4294.08544921875,
                        "z": 370.1827392578125
                    },
                    "rotation": {
                        "roll": -0.002960205078125,
                        "pitch": -0.2714248597621918,
                        "yaw": 0.232173889875412
                    }
                },
                "velocity": {
                    "x": 8.153579711914062,
                    "y": 0.02818012610077858,
                    "z": -0.03668057918548584
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026198387145996,
                "transform": {
                    "location": {
                        "x": 644.1382446289062,
                        "y": 4297.158203125,
                        "z": 369.9830322265625
                    },
                    "rotation": {
                        "roll": 0.0012935022823512554,
                        "pitch": -0.2993193566799164,
                        "yaw": -0.3001708686351776
                    }
                },
                "velocity": {
                    "x": 8.025969505310059,
                    "y": -0.04392988234758377,
                    "z": -0.04183068498969078
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.176482200622559,
                "transform": {
                    "location": {
                        "x": 644.944580078125,
                        "y": 4293.90283203125,
                        "z": 369.9849853515625
                    },
                    "rotation": {
                        "roll": 0.004096643067896366,
                        "pitch": -0.22674177587032318,
                        "yaw": -0.321624755859375
                    }
                },
                "velocity": {
                    "x": 8.176253318786621,
                    "y": -0.04504621401429176,
                    "z": -0.04146791994571686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02161979675293,
                "transform": {
                    "location": {
                        "x": 686.657470703125,
                        "y": 4296.89697265625,
                        "z": 369.76165771484375
                    },
                    "rotation": {
                        "roll": 0.0018678600899875164,
                        "pitch": -0.32592979073524475,
                        "yaw": -0.5065308213233948
                    }
                },
                "velocity": {
                    "x": 8.02133846282959,
                    "y": -0.05007366091012955,
                    "z": -0.04467632248997688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043460845947266,
                "transform": {
                    "location": {
                        "x": 686.51123046875,
                        "y": 4293.66015625,
                        "z": 369.76409912109375
                    },
                    "rotation": {
                        "roll": 0.00016589026199653745,
                        "pitch": -0.3254038691520691,
                        "yaw": -0.3277587592601776
                    }
                },
                "velocity": {
                    "x": 8.043188095092773,
                    "y": -0.047903526574373245,
                    "z": -0.04576564580202103
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052183151245117,
                "transform": {
                    "location": {
                        "x": 728.22607421875,
                        "y": 4296.66552734375,
                        "z": 369.5173645019531
                    },
                    "rotation": {
                        "roll": 0.0004177323426119983,
                        "pitch": -0.33368203043937683,
                        "yaw": -0.3595885634422302
                    }
                },
                "velocity": {
                    "x": 8.051883697509766,
                    "y": -0.05141118913888931,
                    "z": -0.04672558978199959
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066807746887207,
                "transform": {
                    "location": {
                        "x": 727.608642578125,
                        "y": 4293.41943359375,
                        "z": 369.5301818847656
                    },
                    "rotation": {
                        "roll": 0.0004066372930537909,
                        "pitch": -0.33432409167289734,
                        "yaw": -0.3522339463233948
                    }
                },
                "velocity": {
                    "x": 8.066510200500488,
                    "y": -0.04954995587468147,
                    "z": -0.04845970496535301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.675471305847168,
                "transform": {
                    "location": {
                        "x": 709.5960083007812,
                        "y": 4286.82470703125,
                        "z": 369.6253967285156
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.33452215790748596,
                        "yaw": 179.66285705566406
                    }
                },
                "velocity": {
                    "x": -11.67507553100586,
                    "y": 0.06741480529308319,
                    "z": 0.0684298723936081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.209352493286133,
                "transform": {
                    "location": {
                        "x": 685.3529663085938,
                        "y": 4286.96630859375,
                        "z": 369.77484130859375
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.2186548411846161,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -8.209085464477539,
                    "y": 0.04874235391616821,
                    "z": 0.044890765100717545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0013423243071883917,
                "transform": {
                    "location": {
                        "x": 620.4688720703125,
                        "y": 4287.4189453125,
                        "z": 370.1123046875
                    },
                    "rotation": {
                        "roll": 0.006534681189805269,
                        "pitch": -0.5245311856269836,
                        "yaw": -179.82742309570312
                    }
                },
                "velocity": {
                    "x": -0.0012344425776973367,
                    "y": 0.00011564046872081235,
                    "z": -0.0005144058959558606
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014506761217489839,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 2.3721493562334217e-05,
                    "y": 1.408282605552813e-05,
                    "z": 0.0014504138380289078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.821850776672363,
                "transform": {
                    "location": {
                        "x": 701.8356323242188,
                        "y": 4290.1181640625,
                        "z": 369.68017578125
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.22146204113960266,
                        "yaw": 179.73927307128906
                    }
                },
                "velocity": {
                    "x": -7.821584701538086,
                    "y": 0.046781327575445175,
                    "z": 0.0444226935505867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.996150016784668,
                "transform": {
                    "location": {
                        "x": 681.899658203125,
                        "y": 4290.236328125,
                        "z": 369.7928161621094
                    },
                    "rotation": {
                        "roll": 2.9026181437075138e-05,
                        "pitch": 0.3308885097503662,
                        "yaw": 179.6696319580078
                    }
                },
                "velocity": {
                    "x": -8.995855331420898,
                    "y": 0.05181259661912918,
                    "z": 0.05109618976712227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038520812988281,
                "transform": {
                    "location": {
                        "x": 662.407470703125,
                        "y": 4290.35009765625,
                        "z": 369.9305725097656
                    },
                    "rotation": {
                        "roll": 0.0002033912023762241,
                        "pitch": 0.310090571641922,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -8.03824234008789,
                    "y": 0.04980824515223503,
                    "z": 0.04473387449979782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989960670471191,
                "transform": {
                    "location": {
                        "x": 643.8851928710938,
                        "y": 4290.458984375,
                        "z": 369.9880065917969
                    },
                    "rotation": {
                        "roll": 0.0011986587196588516,
                        "pitch": 0.29892322421073914,
                        "yaw": 179.6467742919922
                    }
                },
                "velocity": {
                    "x": -7.989706039428711,
                    "y": 0.049172233790159225,
                    "z": 0.040608376264572144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.34729596972465515,
        "expert_target_speed": 10.0,
        "target_point": [
            33.868629721570976,
            -0.5372236132999575
        ],
        "target_point_next": [
            84.86776877829041,
            -0.8291068998732201
        ]
    },
    "195": {
        "acceleration": [
            0.4112815856933594,
            0.43967628479003906,
            0.014917366206645966
        ],
        "angular_velocity": [
            0.32773852348327637,
            1.6273688077926636,
            -1.86329984664917
        ],
        "forward_vector": [
            -0.9999848008155823,
            0.0036955997347831726,
            -0.004083740990608931
        ],
        "right_vector": [
            -0.003691684687510133,
            -0.9999926686286926,
            -0.0009657425107434392
        ],
        "location": [
            663.1979370117188,
            4286.8525390625,
            369.8894348144531
        ],
        "rotation": [
            0.05533343926072121,
            -0.23398177325725555,
            179.7882537841797
        ],
        "velocity": [
            -4.577861785888672,
            0.06041231006383896,
            0.02508867159485817
        ],
        "speed": 4.578260387735398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 20.715341567993164,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049601554870605,
                "transform": {
                    "location": {
                        "x": 605.2490844726562,
                        "y": 4297.34228515625,
                        "z": 370.1911926269531
                    },
                    "rotation": {
                        "roll": 0.007236017379909754,
                        "pitch": -0.27081015706062317,
                        "yaw": 0.2220550775527954
                    }
                },
                "velocity": {
                    "x": 8.049469947814941,
                    "y": 0.0224752277135849,
                    "z": -0.040205229073762894
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.580626964569092,
                "transform": {
                    "location": {
                        "x": 606.9124145507812,
                        "y": 4294.091796875,
                        "z": 370.1737365722656
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.2789858877658844,
                        "yaw": 0.18432269990444183
                    }
                },
                "velocity": {
                    "x": 7.5805277824401855,
                    "y": 0.01371266320347786,
                    "z": -0.036355841904878616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.096719741821289,
                "transform": {
                    "location": {
                        "x": 646.1581420898438,
                        "y": 4297.14697265625,
                        "z": 369.9724426269531
                    },
                    "rotation": {
                        "roll": 0.0014020572416484356,
                        "pitch": -0.2987661063671112,
                        "yaw": -0.3078307807445526
                    }
                },
                "velocity": {
                    "x": 8.096492767333984,
                    "y": -0.04340864717960358,
                    "z": -0.04237762838602066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.985306739807129,
                "transform": {
                    "location": {
                        "x": 646.9676513671875,
                        "y": 4293.89111328125,
                        "z": 369.9747619628906
                    },
                    "rotation": {
                        "roll": 0.0015213084407150745,
                        "pitch": -0.3179589509963989,
                        "yaw": -0.2998961806297302
                    }
                },
                "velocity": {
                    "x": 7.985082149505615,
                    "y": -0.04377308860421181,
                    "z": -0.04088778793811798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08511734008789,
                "transform": {
                    "location": {
                        "x": 688.6712646484375,
                        "y": 4296.884765625,
                        "z": 369.75030517578125
                    },
                    "rotation": {
                        "roll": 0.0025088153779506683,
                        "pitch": -0.3239421844482422,
                        "yaw": -0.505859375
                    }
                },
                "velocity": {
                    "x": 8.084831237792969,
                    "y": -0.05025055259466171,
                    "z": -0.04579407721757889
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037919044494629,
                "transform": {
                    "location": {
                        "x": 688.5208740234375,
                        "y": 4293.6484375,
                        "z": 369.7527160644531
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.327487051486969,
                        "yaw": -0.3535155653953552
                    }
                },
                "velocity": {
                    "x": 8.037651062011719,
                    "y": -0.04782615602016449,
                    "z": -0.04494762793183327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084561347961426,
                "transform": {
                    "location": {
                        "x": 730.2431640625,
                        "y": 4296.6513671875,
                        "z": 369.5056457519531
                    },
                    "rotation": {
                        "roll": 0.002695521805435419,
                        "pitch": -0.33309465646743774,
                        "yaw": -0.3970336318016052
                    }
                },
                "velocity": {
                    "x": 8.08414363861084,
                    "y": -0.06730705499649048,
                    "z": -0.04722760245203972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08326530456543,
                "transform": {
                    "location": {
                        "x": 729.6266479492188,
                        "y": 4293.40673828125,
                        "z": 369.51849365234375
                    },
                    "rotation": {
                        "roll": 0.005191601347178221,
                        "pitch": -0.34155726432800293,
                        "yaw": -0.3726806044578552
                    }
                },
                "velocity": {
                    "x": 8.082868576049805,
                    "y": -0.06368675827980042,
                    "z": -0.04849357530474663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.465800285339355,
                "transform": {
                    "location": {
                        "x": 706.8237915039062,
                        "y": 4286.8408203125,
                        "z": 369.6417236328125
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.3106642961502075,
                        "yaw": 179.6700897216797
                    }
                },
                "velocity": {
                    "x": -10.465445518493652,
                    "y": 0.06095243617892265,
                    "z": 0.060899581760168076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.072199821472168,
                "transform": {
                    "location": {
                        "x": 683.2001953125,
                        "y": 4286.97900390625,
                        "z": 369.7843933105469
                    },
                    "rotation": {
                        "roll": 0.0003240648366045207,
                        "pitch": 0.5143405199050903,
                        "yaw": 179.66375732421875
                    }
                },
                "velocity": {
                    "x": -9.071905136108398,
                    "y": 0.05329116806387901,
                    "z": 0.04999414458870888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9939438104629517,
                "transform": {
                    "location": {
                        "x": 620.3199462890625,
                        "y": 4287.4189453125,
                        "z": 370.1105651855469
                    },
                    "rotation": {
                        "roll": 0.002777603454887867,
                        "pitch": 0.1375463455915451,
                        "yaw": -179.8536834716797
                    }
                },
                "velocity": {
                    "x": -0.9939336180686951,
                    "y": -0.002367403358221054,
                    "z": 0.003835506271570921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008450184250250459,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.6366280760848895e-05,
                    "y": 1.7143878494607634e-06,
                    "z": 0.0008448581793345511
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.053787231445312,
                "transform": {
                    "location": {
                        "x": 699.6986083984375,
                        "y": 4290.130859375,
                        "z": 369.6927795410156
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.19157996773719788,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": -9.053483009338379,
                    "y": 0.05332683026790619,
                    "z": 0.05156586691737175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.071511268615723,
                "transform": {
                    "location": {
                        "x": 679.61865234375,
                        "y": 4290.25,
                        "z": 369.8056640625
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.31757646799087524,
                        "yaw": 179.66357421875
                    }
                },
                "velocity": {
                    "x": -9.071205139160156,
                    "y": 0.05324383080005646,
                    "z": 0.05202078819274902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011507034301758,
                "transform": {
                    "location": {
                        "x": 660.4012451171875,
                        "y": 4290.361328125,
                        "z": 369.9414367675781
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.3111833930015564,
                        "yaw": 179.64471435546875
                    }
                },
                "velocity": {
                    "x": -8.01123332977295,
                    "y": 0.04961138591170311,
                    "z": 0.04377290606498718
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021456718444824,
                "transform": {
                    "location": {
                        "x": 641.8837280273438,
                        "y": 4290.470703125,
                        "z": 369.9984436035156
                    },
                    "rotation": {
                        "roll": 0.0009772891644388437,
                        "pitch": 0.2993398606777191,
                        "yaw": 179.6461181640625
                    }
                },
                "velocity": {
                    "x": -8.021199226379395,
                    "y": 0.0494738407433033,
                    "z": 0.04096269607543945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.32859042286872864,
        "expert_target_speed": 10.0,
        "target_point": [
            32.66167577361974,
            -0.4169003370671796
        ],
        "target_point_next": [
            83.66152534287467,
            -0.5297023448329726
        ]
    },
    "200": {
        "acceleration": [
            -2.8490829467773438,
            0.3752937912940979,
            0.010576248168945312
        ],
        "angular_velocity": [
            0.07612793892621994,
            1.6547439098358154,
            -3.3323593139648438
        ],
        "forward_vector": [
            -0.9998614192008972,
            0.016217509284615517,
            0.003767004469409585
        ],
        "right_vector": [
            -0.016224512830376625,
            -0.9998667240142822,
            -0.0018359358655288815
        ],
        "location": [
            662.0062866210938,
            4286.87939453125,
            369.8944396972656
        ],
        "rotation": [
            0.10519218444824219,
            0.21583396196365356,
            179.0707550048828
        ],
        "velocity": [
            -5.026150226593018,
            0.16227205097675323,
            0.02609204314649105
        ],
        "speed": 5.028769065965273,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.525285720825195,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27477741241455,
                "transform": {
                    "location": {
                        "x": 607.2907104492188,
                        "y": 4297.34716796875,
                        "z": 370.1813659667969
                    },
                    "rotation": {
                        "roll": 0.011090747080743313,
                        "pitch": -0.27081015706062317,
                        "yaw": 0.10636535286903381
                    }
                },
                "velocity": {
                    "x": 8.274678230285645,
                    "y": 0.0005862732650712132,
                    "z": -0.0406140573322773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.520040035247803,
                "transform": {
                    "location": {
                        "x": 608.7620239257812,
                        "y": 4294.09326171875,
                        "z": 370.1649169921875
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.27569374442100525,
                        "yaw": 0.017262637615203857
                    }
                },
                "velocity": {
                    "x": 7.51995325088501,
                    "y": -0.009255172684788704,
                    "z": -0.03493271768093109
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004107475280762,
                "transform": {
                    "location": {
                        "x": 648.1683349609375,
                        "y": 4297.134765625,
                        "z": 369.96185302734375
                    },
                    "rotation": {
                        "roll": -0.0003356934757903218,
                        "pitch": -0.3075292408466339,
                        "yaw": -0.3187255561351776
                    }
                },
                "velocity": {
                    "x": 8.003876686096191,
                    "y": -0.044765133410692215,
                    "z": -0.04115646705031395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004112243652344,
                "transform": {
                    "location": {
                        "x": 648.957763671875,
                        "y": 4293.87939453125,
                        "z": 369.96417236328125
                    },
                    "rotation": {
                        "roll": 0.0007158228545449674,
                        "pitch": -0.3204929530620575,
                        "yaw": -0.3328551650047302
                    }
                },
                "velocity": {
                    "x": 8.00388240814209,
                    "y": -0.044646576046943665,
                    "z": -0.0411149337887764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020999908447266,
                "transform": {
                    "location": {
                        "x": 690.6839599609375,
                        "y": 4296.87255859375,
                        "z": 369.7388610839844
                    },
                    "rotation": {
                        "roll": 0.0010326341725885868,
                        "pitch": -0.32818374037742615,
                        "yaw": -0.51165771484375
                    }
                },
                "velocity": {
                    "x": 8.020727157592773,
                    "y": -0.048254068940877914,
                    "z": -0.045275602489709854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045063972473145,
                "transform": {
                    "location": {
                        "x": 690.5313110351562,
                        "y": 4293.63671875,
                        "z": 369.7413330078125
                    },
                    "rotation": {
                        "roll": 0.0004608884046319872,
                        "pitch": -0.3265376687049866,
                        "yaw": -0.3258971869945526
                    }
                },
                "velocity": {
                    "x": 8.044800758361816,
                    "y": -0.0475604385137558,
                    "z": -0.04446544125676155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 732.2728881835938,
                        "y": 4296.6171875,
                        "z": 369.4948425292969
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065710067749023,
                "transform": {
                    "location": {
                        "x": 731.6449584960938,
                        "y": 4293.38916015625,
                        "z": 369.5067138671875
                    },
                    "rotation": {
                        "roll": 0.01515292190015316,
                        "pitch": -0.33394843339920044,
                        "yaw": -0.5102234482765198
                    }
                },
                "velocity": {
                    "x": 8.065173149108887,
                    "y": -0.07945152372121811,
                    "z": -0.04849734157323837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.213457107543945,
                "transform": {
                    "location": {
                        "x": 704.2740478515625,
                        "y": 4286.8564453125,
                        "z": 369.6563720703125
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.3228766918182373,
                        "yaw": 179.66543579101562
                    }
                },
                "velocity": {
                    "x": -10.213104248046875,
                    "y": 0.059294361621141434,
                    "z": 0.06072382628917694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.68774127960205,
                "transform": {
                    "location": {
                        "x": 680.814453125,
                        "y": 4286.99267578125,
                        "z": 369.797607421875
                    },
                    "rotation": {
                        "roll": 0.0012474992545321584,
                        "pitch": 0.5444889664649963,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -9.687423706054688,
                    "y": 0.05759785696864128,
                    "z": 0.05326680839061737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8135777711868286,
                "transform": {
                    "location": {
                        "x": 619.9638061523438,
                        "y": 4287.41943359375,
                        "z": 370.1110534667969
                    },
                    "rotation": {
                        "roll": 0.0036276697646826506,
                        "pitch": 0.48189714550971985,
                        "yaw": -179.79971313476562
                    }
                },
                "velocity": {
                    "x": -1.813559651374817,
                    "y": -0.0033970847725868225,
                    "z": 0.0073745823465287685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001045714714564383,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.5504545444855466e-05,
                    "y": -3.2075306080514565e-05,
                    "z": 0.0010451077250763774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.72724437713623,
                "transform": {
                    "location": {
                        "x": 697.3375854492188,
                        "y": 4290.14404296875,
                        "z": 369.7059020996094
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.25373467803001404,
                        "yaw": 179.67311096191406
                    }
                },
                "velocity": {
                    "x": -9.726930618286133,
                    "y": 0.055491331964731216,
                    "z": 0.054908692836761475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9329609870910645,
                "transform": {
                    "location": {
                        "x": 677.488525390625,
                        "y": 4290.26220703125,
                        "z": 369.8168640136719
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": 0.3964036703109741,
                        "yaw": 179.6630859375
                    }
                },
                "velocity": {
                    "x": -7.932706356048584,
                    "y": 0.04661848023533821,
                    "z": 0.043244387954473495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04211711883545,
                "transform": {
                    "location": {
                        "x": 658.3943481445312,
                        "y": 4290.373046875,
                        "z": 369.95220947265625
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": 0.3100973963737488,
                        "yaw": 179.64468383789062
                    }
                },
                "velocity": {
                    "x": -8.04184341430664,
                    "y": 0.049980487674474716,
                    "z": 0.04362956061959267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990131378173828,
                "transform": {
                    "location": {
                        "x": 639.8826293945312,
                        "y": 4290.482421875,
                        "z": 370.0089111328125
                    },
                    "rotation": {
                        "roll": 0.00035284896148368716,
                        "pitch": 0.2995925843715668,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -7.989876747131348,
                    "y": 0.049327220767736435,
                    "z": 0.040462855249643326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.27327030897140503,
        "expert_target_speed": 10.0,
        "target_point": [
            31.47240621666014,
            -0.0003396635002493875
        ],
        "target_point_next": [
            82.46966954070233,
            0.5255061674129637
        ]
    },
    "205": {
        "acceleration": [
            -0.062255859375,
            0.41243404150009155,
            -0.00013925135135650635
        ],
        "angular_velocity": [
            0.07181758433580399,
            -0.16201332211494446,
            -3.797595262527466
        ],
        "forward_vector": [
            -0.9994899034500122,
            0.03140157461166382,
            0.005823459476232529
        ],
        "right_vector": [
            -0.03141278401017189,
            -0.9995047450065613,
            -0.001843669218942523
        ],
        "location": [
            660.7177734375,
            4286.927734375,
            369.9010314941406
        ],
        "rotation": [
            0.10563631355762482,
            0.3336615562438965,
            178.20050048828125
        ],
        "velocity": [
            -5.108759880065918,
            0.24400275945663452,
            0.02848866395652294
        ],
        "speed": 5.114583546956055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.239551544189453,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054853439331055,
                "transform": {
                    "location": {
                        "x": 609.3308715820312,
                        "y": 4297.3466796875,
                        "z": 370.171630859375
                    },
                    "rotation": {
                        "roll": 0.013550120405852795,
                        "pitch": -0.2746487259864807,
                        "yaw": -0.0675659105181694
                    }
                },
                "velocity": {
                    "x": 8.0547456741333,
                    "y": -0.01565570756793022,
                    "z": -0.03853946179151535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.390704154968262,
                "transform": {
                    "location": {
                        "x": 610.7654418945312,
                        "y": 4294.09033203125,
                        "z": 370.1553039550781
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.25445184111595154,
                        "yaw": -0.1036071851849556
                    }
                },
                "velocity": {
                    "x": 8.390589714050293,
                    "y": -0.019397731870412827,
                    "z": -0.03938780725002289
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.086077690124512,
                "transform": {
                    "location": {
                        "x": 650.1800537109375,
                        "y": 4297.12353515625,
                        "z": 369.951171875
                    },
                    "rotation": {
                        "roll": -6.103514533606358e-05,
                        "pitch": -0.30379995703697205,
                        "yaw": -0.3205565810203552
                    }
                },
                "velocity": {
                    "x": 8.08584213256836,
                    "y": -0.04517119750380516,
                    "z": -0.04208897426724434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.076979637145996,
                "transform": {
                    "location": {
                        "x": 650.9742431640625,
                        "y": 4293.86767578125,
                        "z": 369.9533996582031
                    },
                    "rotation": {
                        "roll": -6.103509440436028e-05,
                        "pitch": -0.28531065583229065,
                        "yaw": -0.3031921088695526
                    }
                },
                "velocity": {
                    "x": 8.076754570007324,
                    "y": -0.04360371083021164,
                    "z": -0.041667573153972626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08530330657959,
                "transform": {
                    "location": {
                        "x": 692.6976318359375,
                        "y": 4296.861328125,
                        "z": 369.7274169921875
                    },
                    "rotation": {
                        "roll": 0.0014607264893129468,
                        "pitch": -0.32773295044898987,
                        "yaw": -0.4946288764476776
                    }
                },
                "velocity": {
                    "x": 8.085021018981934,
                    "y": -0.04960435628890991,
                    "z": -0.045837435871362686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040935516357422,
                "transform": {
                    "location": {
                        "x": 692.5421752929688,
                        "y": 4293.625,
                        "z": 369.72991943359375
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.3299800753593445,
                        "yaw": -0.352752685546875
                    }
                },
                "velocity": {
                    "x": 8.040660858154297,
                    "y": -0.04775502160191536,
                    "z": -0.04624389857053757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 734.3541870117188,
                        "y": 4296.53369140625,
                        "z": 369.4866638183594
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 733.7132568359375,
                        "y": 4293.2978515625,
                        "z": 369.4915466308594
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.496490478515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.0485258102417,
                "transform": {
                    "location": {
                        "x": 701.7073974609375,
                        "y": 4286.87158203125,
                        "z": 369.6711730957031
                    },
                    "rotation": {
                        "roll": 0.0016902401112020016,
                        "pitch": 0.327487051486969,
                        "yaw": 179.67379760742188
                    }
                },
                "velocity": {
                    "x": -10.048192024230957,
                    "y": 0.056798383593559265,
                    "z": 0.05888786166906357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.679778099060059,
                "transform": {
                    "location": {
                        "x": 678.341064453125,
                        "y": 4287.0068359375,
                        "z": 369.81298828125
                    },
                    "rotation": {
                        "roll": 0.00035046652192249894,
                        "pitch": 0.32981616258621216,
                        "yaw": 179.66397094726562
                    }
                },
                "velocity": {
                    "x": -9.679450988769531,
                    "y": 0.05791059508919716,
                    "z": 0.05455828458070755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2103208303451538,
                "transform": {
                    "location": {
                        "x": 619.4681396484375,
                        "y": 4287.41748046875,
                        "z": 370.11383056640625
                    },
                    "rotation": {
                        "roll": 0.003055288689211011,
                        "pitch": 0.3605246841907501,
                        "yaw": -179.86277770996094
                    }
                },
                "velocity": {
                    "x": -1.2102967500686646,
                    "y": -0.0040396107360720634,
                    "z": 0.006478080525994301
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006039636791683733,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.2653730664169416e-05,
                    "y": -1.3946684703114443e-05,
                    "z": 0.0006036700215190649
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.935904502868652,
                "transform": {
                    "location": {
                        "x": 694.8412475585938,
                        "y": 4290.1591796875,
                        "z": 369.7198486328125
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.289483904838562,
                        "yaw": 179.65696716308594
                    }
                },
                "velocity": {
                    "x": -9.935564994812012,
                    "y": 0.05980608984827995,
                    "z": 0.05629409849643707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.217135429382324,
                "transform": {
                    "location": {
                        "x": 675.8041381835938,
                        "y": 4290.2724609375,
                        "z": 369.8256530761719
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.46164563298225403,
                        "yaw": 179.66737365722656
                    }
                },
                "velocity": {
                    "x": -6.216936111450195,
                    "y": 0.03579404950141907,
                    "z": 0.034589871764183044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006604194641113,
                "transform": {
                    "location": {
                        "x": 656.3885498046875,
                        "y": 4290.384765625,
                        "z": 369.9630126953125
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.3070579767227173,
                        "yaw": 179.6447296142578
                    }
                },
                "velocity": {
                    "x": -8.006338119506836,
                    "y": 0.04963797330856323,
                    "z": 0.04232519119977951
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021906852722168,
                "transform": {
                    "location": {
                        "x": 637.8812255859375,
                        "y": 4290.494140625,
                        "z": 370.0192565917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29836997389793396,
                        "yaw": 179.64381408691406
                    }
                },
                "velocity": {
                    "x": -8.021648406982422,
                    "y": 0.049882110208272934,
                    "z": 0.0407252199947834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.21278515458106995,
        "expert_target_speed": 0,
        "target_point": [
            30.17938545928604,
            0.4855212380584257
        ],
        "target_point_next": [
            81.16277984890911,
            1.7858584603734313
        ]
    },
    "210": {
        "acceleration": [
            0.35888671875,
            0.422477126121521,
            -0.0043149664998054504
        ],
        "angular_velocity": [
            0.04570303484797478,
            -0.05772789567708969,
            -4.478031635284424
        ],
        "forward_vector": [
            -0.9987962245941162,
            0.048770103603601456,
            0.005243038292974234
        ],
        "right_vector": [
            -0.04878196865320206,
            -0.9988071322441101,
            -0.002159029245376587
        ],
        "location": [
            659.4525146484375,
            4286.99609375,
            369.9080505371094
        ],
        "rotation": [
            0.12370505928993225,
            0.300405353307724,
            177.20452880859375
        ],
        "velocity": [
            -5.028037071228027,
            0.3399484157562256,
            0.028123855590820312
        ],
        "speed": 5.0395160199188265,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.978553771972656,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.28037166595459,
                "transform": {
                    "location": {
                        "x": 611.373779296875,
                        "y": 4297.34228515625,
                        "z": 370.161865234375
                    },
                    "rotation": {
                        "roll": 0.005585603881627321,
                        "pitch": -0.2724016010761261,
                        "yaw": -0.1626891940832138
                    }
                },
                "velocity": {
                    "x": 8.28024673461914,
                    "y": -0.024399248883128166,
                    "z": -0.03834134340286255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053326606750488,
                "transform": {
                    "location": {
                        "x": 612.8305053710938,
                        "y": 4294.0849609375,
                        "z": 370.14569091796875
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": -0.27889710664749146,
                        "yaw": -0.180328369140625
                    }
                },
                "velocity": {
                    "x": 8.053166389465332,
                    "y": -0.03065396286547184,
                    "z": -0.04052775353193283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023094177246094,
                "transform": {
                    "location": {
                        "x": 652.1942138671875,
                        "y": 4297.11181640625,
                        "z": 369.9404602050781
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.3053572475910187,
                        "yaw": -0.3203429579734802
                    }
                },
                "velocity": {
                    "x": 8.022859573364258,
                    "y": -0.04491032660007477,
                    "z": -0.04192502051591873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997519016265869,
                "transform": {
                    "location": {
                        "x": 652.9814453125,
                        "y": 4293.85595703125,
                        "z": 369.94287109375
                    },
                    "rotation": {
                        "roll": 0.0002779100905172527,
                        "pitch": -0.32224148511886597,
                        "yaw": -0.33447265625
                    }
                },
                "velocity": {
                    "x": 7.997278213500977,
                    "y": -0.04603961855173111,
                    "z": -0.0415811613202095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021064758300781,
                "transform": {
                    "location": {
                        "x": 694.710693359375,
                        "y": 4296.84912109375,
                        "z": 369.7159423828125
                    },
                    "rotation": {
                        "roll": 0.0014812011504545808,
                        "pitch": -0.3299800753593445,
                        "yaw": -0.5174254775047302
                    }
                },
                "velocity": {
                    "x": 8.020788192749023,
                    "y": -0.04951724782586098,
                    "z": -0.04466058313846588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040278434753418,
                "transform": {
                    "location": {
                        "x": 694.5521850585938,
                        "y": 4293.61328125,
                        "z": 369.7183837890625
                    },
                    "rotation": {
                        "roll": 0.0005679160240106285,
                        "pitch": -0.33013716340065,
                        "yaw": -0.3291321098804474
                    }
                },
                "velocity": {
                    "x": 8.040007591247559,
                    "y": -0.047986339777708054,
                    "z": -0.045268625020980835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56408,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 736.4370727539062,
                        "y": 4296.5009765625,
                        "z": 369.47479248046875
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 735.796142578125,
                        "y": 4293.26513671875,
                        "z": 369.4791564941406
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.679667472839355,
                "transform": {
                    "location": {
                        "x": 699.2701416015625,
                        "y": 4286.8857421875,
                        "z": 369.6852722167969
                    },
                    "rotation": {
                        "roll": 0.0011289489921182394,
                        "pitch": 0.3224942088127136,
                        "yaw": 179.6738739013672
                    }
                },
                "velocity": {
                    "x": -9.679347038269043,
                    "y": 0.054965343326330185,
                    "z": 0.05650000274181366
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.508928298950195,
                "transform": {
                    "location": {
                        "x": 676.0635986328125,
                        "y": 4287.0205078125,
                        "z": 369.827880859375
                    },
                    "rotation": {
                        "roll": 0.0010348465293645859,
                        "pitch": 0.05941581353545189,
                        "yaw": 179.66200256347656
                    }
                },
                "velocity": {
                    "x": -8.508645057678223,
                    "y": 0.05018744245171547,
                    "z": 0.04795936495065689
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7745875120162964,
                "transform": {
                    "location": {
                        "x": 619.3758544921875,
                        "y": 4287.41796875,
                        "z": 370.1154479980469
                    },
                    "rotation": {
                        "roll": 0.005268530920147896,
                        "pitch": 0.07048755139112473,
                        "yaw": -179.82415771484375
                    }
                },
                "velocity": {
                    "x": -0.7745773196220398,
                    "y": -0.0025681043043732643,
                    "z": 0.003026142017915845
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001796591212041676,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 6.358250630000839e-06,
                    "y": 3.067251236643642e-05,
                    "z": 0.00179631810169667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.810063362121582,
                "transform": {
                    "location": {
                        "x": 692.5036010742188,
                        "y": 4290.17333984375,
                        "z": 369.7322082519531
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.4195443391799927,
                        "yaw": 179.65504455566406
                    }
                },
                "velocity": {
                    "x": -8.809757232666016,
                    "y": 0.05299769341945648,
                    "z": 0.05079685151576996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4370317459106445,
                "transform": {
                    "location": {
                        "x": 674.2412109375,
                        "y": 4290.2822265625,
                        "z": 369.83544921875
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.3197484612464905,
                        "yaw": 179.63096618652344
                    }
                },
                "velocity": {
                    "x": -6.436824798583984,
                    "y": 0.038852233439683914,
                    "z": 0.03400310501456261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04440689086914,
                "transform": {
                    "location": {
                        "x": 654.3819580078125,
                        "y": 4290.39697265625,
                        "z": 369.97369384765625
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.30781611800193787,
                        "yaw": 179.64566040039062
                    }
                },
                "velocity": {
                    "x": -8.044140815734863,
                    "y": 0.049878016114234924,
                    "z": 0.04230678454041481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989643096923828,
                "transform": {
                    "location": {
                        "x": 635.880126953125,
                        "y": 4290.505859375,
                        "z": 370.02960205078125
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.2910958230495453,
                        "yaw": 179.64285278320312
                    }
                },
                "velocity": {
                    "x": -7.989383220672607,
                    "y": 0.04972732439637184,
                    "z": 0.04098495468497276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.10656856000423431,
        "expert_target_speed": 0,
        "target_point": [
            28.89929938437843,
            1.0166032806588499
        ],
        "target_point_next": [
            79.85238833606675,
            3.2029487842159914
        ]
    },
    "215": {
        "acceleration": [
            -12.40875244140625,
            2.371614456176758,
            0.05249634385108948
        ],
        "angular_velocity": [
            1.0307683944702148,
            2.9623217582702637,
            -7.9911699295043945
        ],
        "forward_vector": [
            -0.9971269965171814,
            0.0754094049334526,
            0.007153211161494255
        ],
        "right_vector": [
            -0.07543778419494629,
            -0.9971433281898499,
            -0.0037827654741704464
        ],
        "location": [
            658.1683959960938,
            4287.103515625,
            369.9145202636719
        ],
        "rotation": [
            0.21674256026744843,
            0.4098522961139679,
            175.67514038085938
        ],
        "velocity": [
            -5.673218250274658,
            0.6036012768745422,
            0.03022235818207264
        ],
        "speed": 5.7052379281405985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.701957702636719,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060572624206543,
                "transform": {
                    "location": {
                        "x": 613.4151000976562,
                        "y": 4297.33447265625,
                        "z": 370.1522521972656
                    },
                    "rotation": {
                        "roll": 0.006803525146096945,
                        "pitch": -0.2790200412273407,
                        "yaw": -0.23529052734375
                    }
                },
                "velocity": {
                    "x": 8.060407638549805,
                    "y": -0.035456184297800064,
                    "z": -0.03741954267024994
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9529290199279785,
                "transform": {
                    "location": {
                        "x": 614.8123168945312,
                        "y": 4294.07666015625,
                        "z": 370.1360168457031
                    },
                    "rotation": {
                        "roll": 0.0004343456821516156,
                        "pitch": -0.27828919887542725,
                        "yaw": -0.24594111740589142
                    }
                },
                "velocity": {
                    "x": 7.9527587890625,
                    "y": -0.03615155071020126,
                    "z": -0.03743039444088936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072181701660156,
                "transform": {
                    "location": {
                        "x": 654.2055053710938,
                        "y": 4297.10009765625,
                        "z": 369.92974853515625
                    },
                    "rotation": {
                        "roll": 0.0013856040313839912,
                        "pitch": -0.30563730001449585,
                        "yaw": -0.3272094130516052
                    }
                },
                "velocity": {
                    "x": 8.071944236755371,
                    "y": -0.04608968645334244,
                    "z": -0.04143903777003288
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038969039916992,
                "transform": {
                    "location": {
                        "x": 654.9847412109375,
                        "y": 4293.84423828125,
                        "z": 369.9320983886719
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.30673012137413025,
                        "yaw": -0.31082144379615784
                    }
                },
                "velocity": {
                    "x": 8.038741111755371,
                    "y": -0.04442908242344856,
                    "z": -0.041070789098739624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085955619812012,
                "transform": {
                    "location": {
                        "x": 696.7241821289062,
                        "y": 4296.837890625,
                        "z": 369.7043762207031
                    },
                    "rotation": {
                        "roll": 0.0006891954690217972,
                        "pitch": -0.3289487361907959,
                        "yaw": -0.48742666840553284
                    }
                },
                "velocity": {
                    "x": 8.085670471191406,
                    "y": -0.04978877305984497,
                    "z": -0.04612456262111664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043717384338379,
                "transform": {
                    "location": {
                        "x": 696.5628051757812,
                        "y": 4293.6015625,
                        "z": 369.7068786621094
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.3300142288208008,
                        "yaw": -0.3568725287914276
                    }
                },
                "velocity": {
                    "x": 8.043444633483887,
                    "y": -0.048188380897045135,
                    "z": -0.045530445873737335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56407,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 737.8790283203125,
                        "y": 4293.22900390625,
                        "z": 369.46673583984375
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.152542114257812,
                "transform": {
                    "location": {
                        "x": 696.7933959960938,
                        "y": 4286.8994140625,
                        "z": 369.6994934082031
                    },
                    "rotation": {
                        "roll": 0.0005155093385837972,
                        "pitch": 0.3383675515651703,
                        "yaw": 179.67726135253906
                    }
                },
                "velocity": {
                    "x": -10.152220726013184,
                    "y": 0.05764133483171463,
                    "z": 0.05666477233171463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.42136287689209,
                "transform": {
                    "location": {
                        "x": 674.6814575195312,
                        "y": 4287.02880859375,
                        "z": 369.8424377441406
                    },
                    "rotation": {
                        "roll": 0.00040186758269555867,
                        "pitch": -0.8141175508499146,
                        "yaw": 179.6807098388672
                    }
                },
                "velocity": {
                    "x": -3.421262502670288,
                    "y": 0.01967640407383442,
                    "z": 0.01732649840414524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5881624221801758,
                "transform": {
                    "location": {
                        "x": 619.0665893554688,
                        "y": 4287.41796875,
                        "z": 370.1155090332031
                    },
                    "rotation": {
                        "roll": 0.0039685508236289024,
                        "pitch": 0.4587906002998352,
                        "yaw": -179.7750701904297
                    }
                },
                "velocity": {
                    "x": -1.5881447792053223,
                    "y": -0.003473062766715884,
                    "z": 0.006606549955904484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009658217313699424,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.7287582068092888e-06,
                    "y": 7.306597922251967e-07,
                    "z": 0.0009658199269324541
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.52239465713501,
                "transform": {
                    "location": {
                        "x": 690.5840454101562,
                        "y": 4290.18505859375,
                        "z": 369.7422180175781
                    },
                    "rotation": {
                        "roll": 0.00020440015941858292,
                        "pitch": 0.535056471824646,
                        "yaw": 179.64334106445312
                    }
                },
                "velocity": {
                    "x": -6.522178649902344,
                    "y": 0.03817250579595566,
                    "z": 0.036859799176454544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.402609825134277,
                "transform": {
                    "location": {
                        "x": 672.5562133789062,
                        "y": 4290.29248046875,
                        "z": 369.84521484375
                    },
                    "rotation": {
                        "roll": 0.0013674782821908593,
                        "pitch": 0.24987562000751495,
                        "yaw": 179.6891326904297
                    }
                },
                "velocity": {
                    "x": -7.402368545532227,
                    "y": 0.042494356632232666,
                    "z": 0.04200632870197296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006109237670898,
                "transform": {
                    "location": {
                        "x": 652.3759765625,
                        "y": 4290.40869140625,
                        "z": 369.984375
                    },
                    "rotation": {
                        "roll": -0.0011291505070403218,
                        "pitch": 0.30692818760871887,
                        "yaw": 179.641845703125
                    }
                },
                "velocity": {
                    "x": -8.005847930908203,
                    "y": 0.050097543746232986,
                    "z": 0.04093184322118759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021712303161621,
                "transform": {
                    "location": {
                        "x": 633.8787231445312,
                        "y": 4290.517578125,
                        "z": 370.039794921875
                    },
                    "rotation": {
                        "roll": 0.00045252940617501736,
                        "pitch": 0.29154661297798157,
                        "yaw": 179.6438751220703
                    }
                },
                "velocity": {
                    "x": -8.021453857421875,
                    "y": 0.04964057356119156,
                    "z": 0.04102107137441635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05966619774699211,
        "expert_target_speed": 0,
        "target_point": [
            27.57330868955223,
            1.7978337910889746
        ],
        "target_point_next": [
            78.44989354734412,
            5.3433229798314965
        ]
    },
    "220": {
        "acceleration": [
            -3.2226181030273438,
            1.6141343116760254,
            0.010121911764144897
        ],
        "angular_velocity": [
            0.3000759184360504,
            0.16834242641925812,
            -10.87194538116455
        ],
        "forward_vector": [
            -0.993027925491333,
            0.11724591255187988,
            0.01220744289457798
        ],
        "right_vector": [
            -0.11732397228479385,
            -0.9930762648582458,
            -0.005885169375687838
        ],
        "location": [
            656.5962524414062,
            4287.298828125,
            369.92193603515625
        ],
        "rotation": [
            0.33722245693206787,
            0.6994523406028748,
            173.2663116455078
        ],
        "velocity": [
            -6.706576824188232,
            1.0084885358810425,
            0.0344143770635128
        ],
        "speed": 6.781977722297693,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.146893501281738,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.286026000976562,
                "transform": {
                    "location": {
                        "x": 615.4596557617188,
                        "y": 4297.3251953125,
                        "z": 370.1424560546875
                    },
                    "rotation": {
                        "roll": 0.0025719720870256424,
                        "pitch": -0.2747170329093933,
                        "yaw": -0.2755127251148224
                    }
                },
                "velocity": {
                    "x": 8.285840034484863,
                    "y": -0.03934519737958908,
                    "z": -0.039131049066782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.191740989685059,
                "transform": {
                    "location": {
                        "x": 616.8421630859375,
                        "y": 4294.0673828125,
                        "z": 370.12628173828125
                    },
                    "rotation": {
                        "roll": 0.00036672453279607,
                        "pitch": -0.2714521884918213,
                        "yaw": -0.26788330078125
                    }
                },
                "velocity": {
                    "x": 8.191555976867676,
                    "y": -0.04006456211209297,
                    "z": -0.03766545653343201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027839660644531,
                "transform": {
                    "location": {
                        "x": 656.2181396484375,
                        "y": 4297.08837890625,
                        "z": 369.9190673828125
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.3061222434043884,
                        "yaw": -0.3314208984375
                    }
                },
                "velocity": {
                    "x": 8.02759075164795,
                    "y": -0.04667893424630165,
                    "z": -0.04259313642978668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03812313079834,
                "transform": {
                    "location": {
                        "x": 656.996337890625,
                        "y": 4293.83251953125,
                        "z": 369.92138671875
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3327941596508026
                    }
                },
                "velocity": {
                    "x": 8.037887573242188,
                    "y": -0.04478245973587036,
                    "z": -0.04219943284988403
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021247863769531,
                "transform": {
                    "location": {
                        "x": 698.7373046875,
                        "y": 4296.8251953125,
                        "z": 369.6927795410156
                    },
                    "rotation": {
                        "roll": 0.0014103888534009457,
                        "pitch": -0.3335864245891571,
                        "yaw": -0.522552490234375
                    }
                },
                "velocity": {
                    "x": 8.020960807800293,
                    "y": -0.050743889063596725,
                    "z": -0.044997453689575195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041705131530762,
                "transform": {
                    "location": {
                        "x": 698.5732421875,
                        "y": 4293.58984375,
                        "z": 369.6953125
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.33334052562713623,
                        "yaw": -0.3323668837547302
                    }
                },
                "velocity": {
                    "x": 8.04142951965332,
                    "y": -0.048554036766290665,
                    "z": -0.045477818697690964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.252901077270508,
                "transform": {
                    "location": {
                        "x": 694.3466796875,
                        "y": 4286.91259765625,
                        "z": 369.7135925292969
                    },
                    "rotation": {
                        "roll": 0.00038680783472955227,
                        "pitch": 0.3127748370170593,
                        "yaw": 179.67098999023438
                    }
                },
                "velocity": {
                    "x": -9.252592086791992,
                    "y": 0.0532829575240612,
                    "z": 0.05367596447467804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8975045680999756,
                "transform": {
                    "location": {
                        "x": 673.74560546875,
                        "y": 4287.03466796875,
                        "z": 369.84002685546875
                    },
                    "rotation": {
                        "roll": 0.00019127018458675593,
                        "pitch": 0.10465898364782333,
                        "yaw": 179.68212890625
                    }
                },
                "velocity": {
                    "x": -3.897385358810425,
                    "y": 0.02156471647322178,
                    "z": 0.021527566015720367
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.297308921813965,
                "transform": {
                    "location": {
                        "x": 618.557373046875,
                        "y": 4287.416015625,
                        "z": 370.1175842285156
                    },
                    "rotation": {
                        "roll": 0.005367654841393232,
                        "pitch": 0.5705666542053223,
                        "yaw": -179.81582641601562
                    }
                },
                "velocity": {
                    "x": -2.297283172607422,
                    "y": -0.004678706638514996,
                    "z": 0.009778346866369247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008286220254376531,
                "transform": {
                    "location": {
                        "x": 606.2274169921875,
                        "y": 4287.53369140625,
                        "z": 370.2158508300781
                    },
                    "rotation": {
                        "roll": 5.83692999498453e-05,
                        "pitch": 0.27208057045936584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.9165499907103367e-06,
                    "y": -3.11618423438631e-05,
                    "z": 0.0008280336624011397
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.330106258392334,
                "transform": {
                    "location": {
                        "x": 689.0042114257812,
                        "y": 4290.19482421875,
                        "z": 369.7524108886719
                    },
                    "rotation": {
                        "roll": 0.0010853440035134554,
                        "pitch": 0.37953993678092957,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": -6.329897403717041,
                    "y": 0.035868700593709946,
                    "z": 0.03689376637339592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.913818359375,
                "transform": {
                    "location": {
                        "x": 670.4694213867188,
                        "y": 4290.30419921875,
                        "z": 369.857421875
                    },
                    "rotation": {
                        "roll": 0.0011561289429664612,
                        "pitch": 0.16528373956680298,
                        "yaw": 179.69573974609375
                    }
                },
                "velocity": {
                    "x": -8.913534164428711,
                    "y": 0.0514335110783577,
                    "z": 0.04926495626568794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044393539428711,
                "transform": {
                    "location": {
                        "x": 650.3695068359375,
                        "y": 4290.42138671875,
                        "z": 369.9950256347656
                    },
                    "rotation": {
                        "roll": -0.00012207022518850863,
                        "pitch": 0.3070921301841736,
                        "yaw": 179.6375274658203
                    }
                },
                "velocity": {
                    "x": -8.0441255569458,
                    "y": 0.05093377083539963,
                    "z": 0.04143203794956207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990258693695068,
                "transform": {
                    "location": {
                        "x": 631.8775024414062,
                        "y": 4290.529296875,
                        "z": 370.0499572753906
                    },
                    "rotation": {
                        "roll": 0.0004571935860440135,
                        "pitch": 0.29193592071533203,
                        "yaw": 179.64337158203125
                    }
                },
                "velocity": {
                    "x": -7.989997863769531,
                    "y": 0.05000815913081169,
                    "z": 0.040774181485176086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35647156834602356,
        "expert_target_speed": 0,
        "target_point": [
            25.889182330055316,
            2.9647593524600686
        ],
        "target_point_next": [
            76.57179657994182,
            8.645427726585549
        ]
    },
    "225": {
        "acceleration": [
            -2.9708385467529297,
            2.3328709602355957,
            0.022746101021766663
        ],
        "angular_velocity": [
            0.4195522665977478,
            -0.20987126231193542,
            -12.90914249420166
        ],
        "forward_vector": [
            -0.9854184985160828,
            0.16971595585346222,
            0.01212078332901001
        ],
        "right_vector": [
            -0.1698167324066162,
            -0.9854445457458496,
            -0.00782858394086361
        ],
        "location": [
            654.8153076171875,
            4287.60693359375,
            369.9313659667969
        ],
        "rotation": [
            0.44858232140541077,
            0.6944867372512817,
            170.22796630859375
        ],
        "velocity": [
            -7.471377372741699,
            1.526196002960205,
            0.03900197893381119
        ],
        "speed": 7.625664173392923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.403902053833008,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 576.3080444335938,
                        "y": 4297.4609375,
                        "z": 370.3983459472656
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066486358642578,
                "transform": {
                    "location": {
                        "x": 617.5025634765625,
                        "y": 4297.3154296875,
                        "z": 370.1327209472656
                    },
                    "rotation": {
                        "roll": 0.002365994267165661,
                        "pitch": -0.2778657376766205,
                        "yaw": -0.29351806640625
                    }
                },
                "velocity": {
                    "x": 8.066277503967285,
                    "y": -0.04293135553598404,
                    "z": -0.038991570472717285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9915313720703125,
                "transform": {
                    "location": {
                        "x": 618.863525390625,
                        "y": 4294.05810546875,
                        "z": 370.11663818359375
                    },
                    "rotation": {
                        "roll": -3.051766179851256e-05,
                        "pitch": -0.2781321108341217,
                        "yaw": -0.2970275580883026
                    }
                },
                "velocity": {
                    "x": 7.991328716278076,
                    "y": -0.04278029873967171,
                    "z": -0.037506502121686935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074636459350586,
                "transform": {
                    "location": {
                        "x": 658.2310791015625,
                        "y": 4297.07666015625,
                        "z": 369.9083557128906
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.3075907230377197,
                        "yaw": -0.336669921875
                    }
                },
                "velocity": {
                    "x": 8.07437515258789,
                    "y": -0.04747822508215904,
                    "z": -0.04442000761628151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018446922302246,
                "transform": {
                    "location": {
                        "x": 659.0020141601562,
                        "y": 4293.82080078125,
                        "z": 369.91070556640625
                    },
                    "rotation": {
                        "roll": 0.0018432509386911988,
                        "pitch": -0.31695491075515747,
                        "yaw": -0.3129271864891052
                    }
                },
                "velocity": {
                    "x": 8.018202781677246,
                    "y": -0.0456915907561779,
                    "z": -0.042677268385887146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086241722106934,
                "transform": {
                    "location": {
                        "x": 700.7509155273438,
                        "y": 4296.8134765625,
                        "z": 369.68115234375
                    },
                    "rotation": {
                        "roll": 0.0004953163443133235,
                        "pitch": -0.3319949805736542,
                        "yaw": -0.49316397309303284
                    }
                },
                "velocity": {
                    "x": 8.08597183227539,
                    "y": -0.04763409495353699,
                    "z": -0.045737043023109436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041239738464355,
                "transform": {
                    "location": {
                        "x": 700.5835571289062,
                        "y": 4293.578125,
                        "z": 369.6837158203125
                    },
                    "rotation": {
                        "roll": 0.0012896935222670436,
                        "pitch": -0.3335249423980713,
                        "yaw": -0.36373892426490784
                    }
                },
                "velocity": {
                    "x": 8.04095458984375,
                    "y": -0.049871280789375305,
                    "z": -0.04569023847579956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 577.1219482421875,
                        "y": 4294.2060546875,
                        "z": 370.380859375
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.181205749511719,
                "transform": {
                    "location": {
                        "x": 692.1939086914062,
                        "y": 4286.9248046875,
                        "z": 369.7259826660156
                    },
                    "rotation": {
                        "roll": 0.00044853828148916364,
                        "pitch": 0.3025432229042053,
                        "yaw": 179.6746368408203
                    }
                },
                "velocity": {
                    "x": -8.180933952331543,
                    "y": 0.0468771830201149,
                    "z": 0.04743937402963638
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8818728923797607,
                "transform": {
                    "location": {
                        "x": 672.7762451171875,
                        "y": 4287.041015625,
                        "z": 369.842529296875
                    },
                    "rotation": {
                        "roll": 0.0009670864092186093,
                        "pitch": 0.4728129804134369,
                        "yaw": 179.68116760253906
                    }
                },
                "velocity": {
                    "x": -3.8817458152770996,
                    "y": 0.02247302047908306,
                    "z": 0.02194124087691307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005185080226510763,
                "transform": {
                    "location": {
                        "x": 618.2540893554688,
                        "y": 4287.41455078125,
                        "z": 370.1219482421875
                    },
                    "rotation": {
                        "roll": 0.005355998408049345,
                        "pitch": -0.23760861158370972,
                        "yaw": -179.9623260498047
                    }
                },
                "velocity": {
                    "x": -0.0051430631428956985,
                    "y": -0.0006459853611886501,
                    "z": 0.00012908548524137586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8281397223472595,
                "transform": {
                    "location": {
                        "x": 606.1710205078125,
                        "y": 4287.533203125,
                        "z": 370.2155456542969
                    },
                    "rotation": {
                        "roll": -0.004180907271802425,
                        "pitch": 0.3393169343471527,
                        "yaw": 179.69422912597656
                    }
                },
                "velocity": {
                    "x": -0.8280563354492188,
                    "y": -0.011183257214725018,
                    "z": 0.0036111639346927404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.797667026519775,
                "transform": {
                    "location": {
                        "x": 687.3519897460938,
                        "y": 4290.2041015625,
                        "z": 369.7625732421875
                    },
                    "rotation": {
                        "roll": 0.0007967852288857102,
                        "pitch": 0.28630784153938293,
                        "yaw": 179.63735961914062
                    }
                },
                "velocity": {
                    "x": -6.797444820404053,
                    "y": 0.040650077164173126,
                    "z": 0.0369412787258625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.024551391601562,
                "transform": {
                    "location": {
                        "x": 668.1741333007812,
                        "y": 4290.3173828125,
                        "z": 369.8689880371094
                    },
                    "rotation": {
                        "roll": 5.785401299363002e-05,
                        "pitch": 0.28049537539482117,
                        "yaw": 179.6781768798828
                    }
                },
                "velocity": {
                    "x": -9.024273872375488,
                    "y": 0.05070884898304939,
                    "z": 0.049431122839450836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007352828979492,
                "transform": {
                    "location": {
                        "x": 648.3632202148438,
                        "y": 4290.43359375,
                        "z": 370.0056457519531
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.3054528832435608,
                        "yaw": 179.642333984375
                    }
                },
                "velocity": {
                    "x": -8.007099151611328,
                    "y": 0.0483362190425396,
                    "z": 0.041644591838121414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021848678588867,
                "transform": {
                    "location": {
                        "x": 629.8759765625,
                        "y": 4290.541015625,
                        "z": 370.06011962890625
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.2917446792125702,
                        "yaw": 179.6412811279297
                    }
                },
                "velocity": {
                    "x": -8.021586418151855,
                    "y": 0.05007120594382286,
                    "z": 0.041277941316366196
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5434601902961731,
        "expert_target_speed": 0,
        "target_point": [
            23.888245763791705,
            4.334186340035277
        ],
        "target_point_next": [
            74.19851555666797,
            12.69326127375787
        ]
    },
    "230": {
        "acceleration": [
            -2.0198822021484375,
            1.041398048400879,
            0.0033098459243774414
        ],
        "angular_velocity": [
            -0.6982923150062561,
            -0.11909390985965729,
            -7.5995354652404785
        ],
        "forward_vector": [
            -0.9766663312911987,
            0.21446645259857178,
            0.01127231027930975
        ],
        "right_vector": [
            -0.21454644203186035,
            -0.9766926169395447,
            -0.0064298673532903194
        ],
        "location": [
            652.8649291992188,
            4288.03076171875,
            369.9419860839844
        ],
        "rotation": [
            0.3684301972389221,
            0.6458694934844971,
            167.61497497558594
        ],
        "velocity": [
            -8.075563430786133,
            1.8978182077407837,
            0.042118512094020844
        ],
        "speed": 8.295567411231298,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.534887313842773,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 578.390869140625,
                        "y": 4297.44873046875,
                        "z": 370.35467529296875
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.291855812072754,
                "transform": {
                    "location": {
                        "x": 619.54833984375,
                        "y": 4297.30419921875,
                        "z": 370.1226806640625
                    },
                    "rotation": {
                        "roll": 0.0005907493177801371,
                        "pitch": -0.276117205619812,
                        "yaw": -0.3096008002758026
                    }
                },
                "velocity": {
                    "x": 8.29162883758545,
                    "y": -0.04560578614473343,
                    "z": -0.04104609042406082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09153938293457,
                "transform": {
                    "location": {
                        "x": 620.8697509765625,
                        "y": 4294.04638671875,
                        "z": 370.1069030761719
                    },
                    "rotation": {
                        "roll": 0.00036248151445761323,
                        "pitch": -0.28128767013549805,
                        "yaw": -0.3156737685203552
                    }
                },
                "velocity": {
                    "x": 8.09131908416748,
                    "y": -0.044560253620147705,
                    "z": -0.03980660438537598
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023626327514648,
                "transform": {
                    "location": {
                        "x": 660.2429809570312,
                        "y": 4297.06494140625,
                        "z": 369.8974609375
                    },
                    "rotation": {
                        "roll": -0.0007629392202943563,
                        "pitch": -0.31047987937927246,
                        "yaw": -0.33285513520240784
                    }
                },
                "velocity": {
                    "x": 8.023364067077637,
                    "y": -0.0466347336769104,
                    "z": -0.04512394964694977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037612915039062,
                "transform": {
                    "location": {
                        "x": 661.0092163085938,
                        "y": 4293.80908203125,
                        "z": 369.89990234375
                    },
                    "rotation": {
                        "roll": 0.0012403561268001795,
                        "pitch": -0.3097763955593109,
                        "yaw": -0.3404845893383026
                    }
                },
                "velocity": {
                    "x": 8.037360191345215,
                    "y": -0.045763906091451645,
                    "z": -0.04426601901650429
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020654678344727,
                "transform": {
                    "location": {
                        "x": 702.7640380859375,
                        "y": 4296.8017578125,
                        "z": 369.6695251464844
                    },
                    "rotation": {
                        "roll": 0.0016527851112186909,
                        "pitch": -0.33407819271087646,
                        "yaw": -0.511566162109375
                    }
                },
                "velocity": {
                    "x": 8.020363807678223,
                    "y": -0.05049733445048332,
                    "z": -0.04604746773838997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042993545532227,
                "transform": {
                    "location": {
                        "x": 702.5941772460938,
                        "y": 4293.56640625,
                        "z": 369.6720886230469
                    },
                    "rotation": {
                        "roll": 6.583963840967044e-05,
                        "pitch": -0.3329785466194153,
                        "yaw": -0.3425292670726776
                    }
                },
                "velocity": {
                    "x": 8.042713165283203,
                    "y": -0.049104683101177216,
                    "z": -0.04592426121234894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 579.2047729492188,
                        "y": 4294.19384765625,
                        "z": 370.3371887207031
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.31267261505127,
                "transform": {
                    "location": {
                        "x": 690.1424560546875,
                        "y": 4286.93701171875,
                        "z": 369.7375183105469
                    },
                    "rotation": {
                        "roll": 0.0009489343501627445,
                        "pitch": 0.3242495656013489,
                        "yaw": 179.6652069091797
                    }
                },
                "velocity": {
                    "x": -8.312405586242676,
                    "y": 0.048173002898693085,
                    "z": 0.046041183173656464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.654046535491943,
                "transform": {
                    "location": {
                        "x": 671.7202758789062,
                        "y": 4287.046875,
                        "z": 369.8482666015625
                    },
                    "rotation": {
                        "roll": 0.0014089925680309534,
                        "pitch": 0.47964316606521606,
                        "yaw": 179.67739868164062
                    }
                },
                "velocity": {
                    "x": -4.653901100158691,
                    "y": 0.02728632651269436,
                    "z": 0.02466406859457493
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.019087791442871,
                "transform": {
                    "location": {
                        "x": 618.0985107421875,
                        "y": 4287.41455078125,
                        "z": 370.1210021972656
                    },
                    "rotation": {
                        "roll": 0.0033260597847402096,
                        "pitch": 0.23493801057338715,
                        "yaw": -179.9293212890625
                    }
                },
                "velocity": {
                    "x": -1.0190750360488892,
                    "y": -0.0032932700123637915,
                    "z": 0.0038857650943100452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.682845950126648,
                "transform": {
                    "location": {
                        "x": 605.8450927734375,
                        "y": 4287.53271484375,
                        "z": 370.2169494628906
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.36580443382263184,
                        "yaw": 179.76429748535156
                    }
                },
                "velocity": {
                    "x": -1.6828184127807617,
                    "y": -0.006904364097863436,
                    "z": 0.0067149256356060505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.61349868774414,
                "transform": {
                    "location": {
                        "x": 685.4266967773438,
                        "y": 4290.21533203125,
                        "z": 369.77435302734375
                    },
                    "rotation": {
                        "roll": 0.0006202924414537847,
                        "pitch": 0.16080313920974731,
                        "yaw": 179.64154052734375
                    }
                },
                "velocity": {
                    "x": -8.613211631774902,
                    "y": 0.05090794339776039,
                    "z": 0.04844537749886513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.727428436279297,
                "transform": {
                    "location": {
                        "x": 665.9891967773438,
                        "y": 4290.3291015625,
                        "z": 369.8804931640625
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.3317764103412628,
                        "yaw": 179.67269897460938
                    }
                },
                "velocity": {
                    "x": -8.72714900970459,
                    "y": 0.049847159534692764,
                    "z": 0.0487993024289608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04298210144043,
                "transform": {
                    "location": {
                        "x": 646.3568115234375,
                        "y": 4290.4453125,
                        "z": 370.0162353515625
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.304503470659256,
                        "yaw": 179.6527557373047
                    }
                },
                "velocity": {
                    "x": -8.042731285095215,
                    "y": 0.04880939796566963,
                    "z": 0.0407169908285141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990835189819336,
                "transform": {
                    "location": {
                        "x": 627.8746948242188,
                        "y": 4290.552734375,
                        "z": 370.0701599121094
                    },
                    "rotation": {
                        "roll": 0.0002007597649935633,
                        "pitch": 0.28552237153053284,
                        "yaw": 179.64122009277344
                    }
                },
                "velocity": {
                    "x": -7.990578651428223,
                    "y": 0.04998211935162544,
                    "z": 0.0400216206908226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.053865958005189896,
        "expert_target_speed": 0,
        "target_point": [
            21.669922829669183,
            5.414379043678302
        ],
        "target_point_next": [
            71.54679820977086,
            16.05837653979765
        ]
    },
    "235": {
        "acceleration": [
            -2.3790931701660156,
            0.3843259811401367,
            0.00942230224609375
        ],
        "angular_velocity": [
            -0.9809223413467407,
            0.06323527544736862,
            -0.8973867893218994
        ],
        "forward_vector": [
            -0.9727702140808105,
            0.2315361499786377,
            0.010449576191604137
        ],
        "right_vector": [
            -0.23157314956188202,
            -0.9728143811225891,
            -0.0024647321552038193
        ],
        "location": [
            650.76953125,
            4288.5263671875,
            369.95330810546875
        ],
        "rotation": [
            0.1412266045808792,
            0.5987275242805481,
            166.61172485351562
        ],
        "velocity": [
            -8.65252685546875,
            2.070223569869995,
            0.04557541757822037
        ],
        "speed": 8.896743596049804,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.60165023803711,
        "front_vehicle_info": {
            "id": 56394,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 580.4736328125,
                        "y": 4297.43603515625,
                        "z": 370.3110046386719
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072052955627441,
                "transform": {
                    "location": {
                        "x": 621.5925903320312,
                        "y": 4297.29248046875,
                        "z": 370.1127624511719
                    },
                    "rotation": {
                        "roll": 0.000236992520513013,
                        "pitch": -0.28647178411483765,
                        "yaw": -0.3177185356616974
                    }
                },
                "velocity": {
                    "x": 8.071831703186035,
                    "y": -0.044652778655290604,
                    "z": -0.039698243141174316
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071558952331543,
                "transform": {
                    "location": {
                        "x": 622.8943481445312,
                        "y": 4294.03466796875,
                        "z": 370.0968933105469
                    },
                    "rotation": {
                        "roll": 6.978293095016852e-05,
                        "pitch": -0.28343918919563293,
                        "yaw": -0.3182373046875
                    }
                },
                "velocity": {
                    "x": 8.071331977844238,
                    "y": -0.044752974063158035,
                    "z": -0.040647029876708984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077534675598145,
                "transform": {
                    "location": {
                        "x": 662.256103515625,
                        "y": 4297.05322265625,
                        "z": 369.8865966796875
                    },
                    "rotation": {
                        "roll": 7.604448910569772e-05,
                        "pitch": -0.30959880352020264,
                        "yaw": -0.33721923828125
                    }
                },
                "velocity": {
                    "x": 8.077269554138184,
                    "y": -0.04748232290148735,
                    "z": -0.04490843787789345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029422760009766,
                "transform": {
                    "location": {
                        "x": 663.017822265625,
                        "y": 4293.79736328125,
                        "z": 369.8890686035156
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.3132597804069519,
                        "yaw": -0.3092955946922302
                    }
                },
                "velocity": {
                    "x": 8.029170989990234,
                    "y": -0.04538094252347946,
                    "z": -0.04457751661539078
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.08591365814209,
                "transform": {
                    "location": {
                        "x": 704.7774658203125,
                        "y": 4296.7900390625,
                        "z": 369.6578369140625
                    },
                    "rotation": {
                        "roll": 0.0012791844783350825,
                        "pitch": -0.3327599763870239,
                        "yaw": -0.4994811415672302
                    }
                },
                "velocity": {
                    "x": 8.085637092590332,
                    "y": -0.04914839565753937,
                    "z": -0.04537978023290634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04189395904541,
                "transform": {
                    "location": {
                        "x": 704.604736328125,
                        "y": 4293.5546875,
                        "z": 369.6604309082031
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.33438554406166077,
                        "yaw": -0.3663330078125
                    }
                },
                "velocity": {
                    "x": 8.04161262512207,
                    "y": -0.04952792078256607,
                    "z": -0.04559344798326492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 581.2876586914062,
                        "y": 4294.181640625,
                        "z": 370.3004455566406
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.441657066345215,
                "transform": {
                    "location": {
                        "x": 688.1570434570312,
                        "y": 4286.9482421875,
                        "z": 369.748779296875
                    },
                    "rotation": {
                        "roll": 0.0005922165582887828,
                        "pitch": 0.307570219039917,
                        "yaw": 179.67041015625
                    }
                },
                "velocity": {
                    "x": -7.441406726837158,
                    "y": 0.04342101141810417,
                    "z": 0.042866285890340805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.301095962524414,
                "transform": {
                    "location": {
                        "x": 670.4537353515625,
                        "y": 4287.05419921875,
                        "z": 369.8553771972656
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.49096763134002686,
                        "yaw": 179.67105102539062
                    }
                },
                "velocity": {
                    "x": -5.30092716217041,
                    "y": 0.030379636213183403,
                    "z": 0.029399698600172997
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.807350516319275,
                "transform": {
                    "location": {
                        "x": 617.7357177734375,
                        "y": 4287.4150390625,
                        "z": 370.1217041015625
                    },
                    "rotation": {
                        "roll": 0.004045138135552406,
                        "pitch": 0.5024765133857727,
                        "yaw": -179.91822814941406
                    }
                },
                "velocity": {
                    "x": -1.8073323965072632,
                    "y": -0.0025895771104842424,
                    "z": 0.007661151699721813
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7297744750976562,
                "transform": {
                    "location": {
                        "x": 605.297607421875,
                        "y": 4287.53173828125,
                        "z": 370.21929931640625
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": 0.3807488679885864,
                        "yaw": 179.88320922851562
                    }
                },
                "velocity": {
                    "x": -2.7297234535217285,
                    "y": -0.010587958618998528,
                    "z": 0.012879475951194763
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.216388702392578,
                "transform": {
                    "location": {
                        "x": 683.1587524414062,
                        "y": 4290.22900390625,
                        "z": 369.7864685058594
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.23527951538562775,
                        "yaw": 179.6329345703125
                    }
                },
                "velocity": {
                    "x": -9.216071128845215,
                    "y": 0.05612436309456825,
                    "z": 0.05205579474568367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.99087142944336,
                "transform": {
                    "location": {
                        "x": 663.7420043945312,
                        "y": 4290.3427734375,
                        "z": 369.8930358886719
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.2902488708496094,
                        "yaw": 179.66604614257812
                    }
                },
                "velocity": {
                    "x": -8.990574836730957,
                    "y": 0.054939765483140945,
                    "z": 0.04815230146050453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007425308227539,
                "transform": {
                    "location": {
                        "x": 644.3505859375,
                        "y": 4290.45703125,
                        "z": 370.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0012087716022506356,
                        "pitch": 0.30034390091896057,
                        "yaw": 179.65301513671875
                    }
                },
                "velocity": {
                    "x": -8.007171630859375,
                    "y": 0.048415765166282654,
                    "z": 0.04153900966048241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022207260131836,
                "transform": {
                    "location": {
                        "x": 625.8729248046875,
                        "y": 4290.564453125,
                        "z": 370.0801086425781
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.282865434885025,
                        "yaw": 179.6411590576172
                    }
                },
                "velocity": {
                    "x": -8.02194881439209,
                    "y": 0.0502360537648201,
                    "z": 0.04030517488718033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5185003280639648,
        "expert_target_speed": 0,
        "target_point": [
            19.418591565028557,
            5.789919723448048
        ],
        "target_point_next": [
            69.10145486272013,
            17.305581880809147
        ]
    },
    "240": {
        "acceleration": [
            3.6251258850097656,
            -2.875354290008545,
            0.006015971302986145
        ],
        "angular_velocity": [
            -2.211113452911377,
            -1.269768476486206,
            11.412561416625977
        ],
        "forward_vector": [
            -0.9774181246757507,
            0.2112244814634323,
            0.006169756408780813
        ],
        "right_vector": [
            -0.2111927568912506,
            -0.9774294495582581,
            0.005413543898612261
        ],
        "location": [
            648.613525390625,
            4289.00537109375,
            369.965576171875
        ],
        "rotation": [
            -0.3101806342601776,
            0.3535032570362091,
            167.80564880371094
        ],
        "velocity": [
            -8.379148483276367,
            1.627032995223999,
            0.04481583461165428
        ],
        "speed": 8.535652621348893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.438331604003906,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                642.3441162109375,
                4290.46875,
                370.03729248046875
            ],
            "velocity": [
                -8.043072700500488,
                0.04866434633731842,
                0.041508980095386505
            ],
            "speed_kmh": 28.955977300847874,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.08747386932373,
                "transform": {
                    "location": {
                        "x": 582.5225830078125,
                        "y": 4297.42822265625,
                        "z": 370.2829284667969
                    },
                    "rotation": {
                        "roll": -0.00537109375,
                        "pitch": -0.25134411454200745,
                        "yaw": -0.21844482421875
                    }
                },
                "velocity": {
                    "x": 8.087191581726074,
                    "y": 0.0003948938101530075,
                    "z": -0.0675988420844078
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.29759407043457,
                "transform": {
                    "location": {
                        "x": 623.6400756835938,
                        "y": 4297.28076171875,
                        "z": 370.10260009765625
                    },
                    "rotation": {
                        "roll": 0.0002323750377399847,
                        "pitch": -0.2836577296257019,
                        "yaw": -0.3212890326976776
                    }
                },
                "velocity": {
                    "x": 8.29736042022705,
                    "y": -0.046563271433115005,
                    "z": -0.041227973997592926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.060938835144043,
                "transform": {
                    "location": {
                        "x": 624.90869140625,
                        "y": 4294.02294921875,
                        "z": 370.08685302734375
                    },
                    "rotation": {
                        "roll": -0.00012207042891532183,
                        "pitch": -0.2842041552066803,
                        "yaw": -0.3237914443016052
                    }
                },
                "velocity": {
                    "x": 8.060704231262207,
                    "y": -0.04566459730267525,
                    "z": -0.0411144383251667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02302074432373,
                "transform": {
                    "location": {
                        "x": 664.2682495117188,
                        "y": 4297.04150390625,
                        "z": 369.8756408691406
                    },
                    "rotation": {
                        "roll": -0.00036621102481149137,
                        "pitch": -0.311251699924469,
                        "yaw": -0.3373412489891052
                    }
                },
                "velocity": {
                    "x": 8.022754669189453,
                    "y": -0.04726575314998627,
                    "z": -0.04516476392745972
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027987480163574,
                "transform": {
                    "location": {
                        "x": 665.0245361328125,
                        "y": 4293.78564453125,
                        "z": 369.8780822753906
                    },
                    "rotation": {
                        "roll": 0.0004879766784142703,
                        "pitch": -0.3177199065685272,
                        "yaw": -0.3415221571922302
                    }
                },
                "velocity": {
                    "x": 8.027727127075195,
                    "y": -0.04708455875515938,
                    "z": -0.04416648671030998
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020947456359863,
                "transform": {
                    "location": {
                        "x": 706.79052734375,
                        "y": 4296.7783203125,
                        "z": 369.6462097167969
                    },
                    "rotation": {
                        "roll": 0.0022275843657553196,
                        "pitch": -0.3351983428001404,
                        "yaw": -0.5050658583641052
                    }
                },
                "velocity": {
                    "x": 8.020665168762207,
                    "y": -0.050160087645053864,
                    "z": -0.044763851910829544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041875839233398,
                "transform": {
                    "location": {
                        "x": 706.614990234375,
                        "y": 4293.54296875,
                        "z": 369.6488342285156
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.3347133994102478,
                        "yaw": -0.3450317084789276
                    }
                },
                "velocity": {
                    "x": 8.041586875915527,
                    "y": -0.05035145580768585,
                    "z": -0.04585164785385132
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04078197479248,
                "transform": {
                    "location": {
                        "x": 583.32421875,
                        "y": 4294.1796875,
                        "z": 370.28125
                    },
                    "rotation": {
                        "roll": -0.0350341759622097,
                        "pitch": -0.28002408146858215,
                        "yaw": -0.0372009314596653
                    }
                },
                "velocity": {
                    "x": 8.040750503540039,
                    "y": 0.0206239465624094,
                    "z": -0.008481835946440697
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.890149116516113,
                "transform": {
                    "location": {
                        "x": 686.4854736328125,
                        "y": 4286.95751953125,
                        "z": 369.7584533691406
                    },
                    "rotation": {
                        "roll": 0.000541699817404151,
                        "pitch": 0.2903376519680023,
                        "yaw": 179.6241912841797
                    }
                },
                "velocity": {
                    "x": -5.889947891235352,
                    "y": 0.035532984882593155,
                    "z": 0.0333186611533165
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.7038960456848145,
                "transform": {
                    "location": {
                        "x": 669.0951538085938,
                        "y": 4287.06201171875,
                        "z": 369.8636779785156
                    },
                    "rotation": {
                        "roll": 0.00019895205332431942,
                        "pitch": 0.3796970248222351,
                        "yaw": 179.67152404785156
                    }
                },
                "velocity": {
                    "x": -5.703721046447754,
                    "y": 0.03271093592047691,
                    "z": 0.03045690432190895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5928891897201538,
                "transform": {
                    "location": {
                        "x": 617.2179565429688,
                        "y": 4287.4150390625,
                        "z": 370.12445068359375
                    },
                    "rotation": {
                        "roll": 0.002162736374884844,
                        "pitch": 0.42828699946403503,
                        "yaw": -179.90345764160156
                    }
                },
                "velocity": {
                    "x": -1.5928696393966675,
                    "y": -0.0030495210085064173,
                    "z": 0.007274322211742401
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.121445655822754,
                "transform": {
                    "location": {
                        "x": 604.43359375,
                        "y": 4287.529296875,
                        "z": 370.22314453125
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.41410067677497864,
                        "yaw": -179.98452758789062
                    }
                },
                "velocity": {
                    "x": -4.121370792388916,
                    "y": -0.01716500334441662,
                    "z": 0.01796277053654194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.174331665039062,
                "transform": {
                    "location": {
                        "x": 680.8814697265625,
                        "y": 4290.2431640625,
                        "z": 369.7986145019531
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.31051403284072876,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -9.174013137817383,
                    "y": 0.05557011067867279,
                    "z": 0.05256294086575508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.364791393280029,
                "transform": {
                    "location": {
                        "x": 661.6674194335938,
                        "y": 4290.35498046875,
                        "z": 369.9031677246094
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.4209308624267578,
                        "yaw": 179.66273498535156
                    }
                },
                "velocity": {
                    "x": -7.364551067352295,
                    "y": 0.04337916895747185,
                    "z": 0.040743570774793625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043326377868652,
                "transform": {
                    "location": {
                        "x": 642.3441162109375,
                        "y": 4290.46875,
                        "z": 370.03729248046875
                    },
                    "rotation": {
                        "roll": 0.001476073288358748,
                        "pitch": 0.30113619565963745,
                        "yaw": 179.65347290039062
                    }
                },
                "velocity": {
                    "x": -8.043072700500488,
                    "y": 0.04866434633731842,
                    "z": 0.041508980095386505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990037441253662,
                "transform": {
                    "location": {
                        "x": 623.8714599609375,
                        "y": 4290.576171875,
                        "z": 370.0899963378906
                    },
                    "rotation": {
                        "roll": -0.0001831053668865934,
                        "pitch": 0.283753365278244,
                        "yaw": 179.64283752441406
                    }
                },
                "velocity": {
                    "x": -7.989775657653809,
                    "y": 0.05046386644244194,
                    "z": 0.04045100137591362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6051828861236572,
        "expert_target_speed": 0,
        "target_point": [
            17.326477636338456,
            5.396839140228344
        ],
        "target_point_next": [
            67.23849835913016,
            15.874795417441948
        ]
    },
    "245": {
        "acceleration": [
            3.103761672973633,
            -2.4567711353302,
            0.00572890043258667
        ],
        "angular_velocity": [
            -0.6681869029998779,
            -0.5302993655204773,
            13.097214698791504
        ],
        "forward_vector": [
            -0.9878070950508118,
            0.1556817591190338,
            0.0005649327649734914
        ],
        "right_vector": [
            -0.1556684970855713,
            -0.9877590537071228,
            0.009969641454517841
        ],
        "location": [
            646.6419067382812,
            4289.33349609375,
            369.9772033691406
        ],
        "rotation": [
            -0.5712279081344604,
            0.032368265092372894,
            171.0436553955078
        ],
        "velocity": [
            -7.479264259338379,
            0.9753348231315613,
            0.040724705904722214
        ],
        "speed": 7.542590528341674,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.407896995544434,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                640.337890625,
                4290.48046875,
                370.0477294921875
            ],
            "velocity": [
                -8.0072603225708,
                0.04840800538659096,
                0.04100530594587326
            ],
            "speed_kmh": 28.82704189923051,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.115635871887207,
                "transform": {
                    "location": {
                        "x": 584.5482177734375,
                        "y": 4297.42919921875,
                        "z": 370.27301025390625
                    },
                    "rotation": {
                        "roll": -0.005889892578125,
                        "pitch": -0.24743041396141052,
                        "yaw": 0.13187023997306824
                    }
                },
                "velocity": {
                    "x": 8.115517616271973,
                    "y": 0.03068169578909874,
                    "z": -0.03136233240365982
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8548994064331055,
                "transform": {
                    "location": {
                        "x": 625.31591796875,
                        "y": 4297.27197265625,
                        "z": 370.0980529785156
                    },
                    "rotation": {
                        "roll": 0.0026807908434420824,
                        "pitch": -0.7386439442634583,
                        "yaw": -0.42486572265625
                    }
                },
                "velocity": {
                    "x": 5.8547210693359375,
                    "y": -0.035440050065517426,
                    "z": -0.028848161920905113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064531326293945,
                "transform": {
                    "location": {
                        "x": 626.9244384765625,
                        "y": 4294.01123046875,
                        "z": 370.076904296875
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.2828312814235687,
                        "yaw": -0.3277587890625
                    }
                },
                "velocity": {
                    "x": 8.06429386138916,
                    "y": -0.04610975459218025,
                    "z": -0.041179876774549484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076510429382324,
                "transform": {
                    "location": {
                        "x": 666.28076171875,
                        "y": 4297.02978515625,
                        "z": 369.86474609375
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.3135056793689728,
                        "yaw": -0.3418578803539276
                    }
                },
                "velocity": {
                    "x": 8.076244354248047,
                    "y": -0.048218145966529846,
                    "z": -0.0443665012717247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032657623291016,
                "transform": {
                    "location": {
                        "x": 667.0322265625,
                        "y": 4293.77392578125,
                        "z": 369.86712646484375
                    },
                    "rotation": {
                        "roll": -9.155261795967817e-05,
                        "pitch": -0.31707102060317993,
                        "yaw": -0.315948486328125
                    }
                },
                "velocity": {
                    "x": 8.03239917755127,
                    "y": -0.046300772577524185,
                    "z": -0.04480801150202751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.085455894470215,
                "transform": {
                    "location": {
                        "x": 708.80419921875,
                        "y": 4296.76611328125,
                        "z": 369.6344909667969
                    },
                    "rotation": {
                        "roll": 0.0006850851350463927,
                        "pitch": -0.33337467908859253,
                        "yaw": -0.505340576171875
                    }
                },
                "velocity": {
                    "x": 8.085169792175293,
                    "y": -0.05021568760275841,
                    "z": -0.045884545892477036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042963027954102,
                "transform": {
                    "location": {
                        "x": 708.6256103515625,
                        "y": 4293.53125,
                        "z": 369.6371154785156
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.33428993821144104,
                        "yaw": -0.3704528212547302
                    }
                },
                "velocity": {
                    "x": 8.042673110961914,
                    "y": -0.050121553242206573,
                    "z": -0.046278346329927444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.267377853393555,
                "transform": {
                    "location": {
                        "x": 585.364501953125,
                        "y": 4294.185546875,
                        "z": 370.28082275390625
                    },
                    "rotation": {
                        "roll": -0.018798828125,
                        "pitch": -0.2445071041584015,
                        "yaw": 0.2379627674818039
                    }
                },
                "velocity": {
                    "x": 8.267266273498535,
                    "y": 0.04157109558582306,
                    "z": -0.010857600718736649
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2611775398254395,
                "transform": {
                    "location": {
                        "x": 685.372802734375,
                        "y": 4286.96533203125,
                        "z": 369.7644348144531
                    },
                    "rotation": {
                        "roll": 0.002590107498690486,
                        "pitch": 0.2892516553401947,
                        "yaw": -179.966064453125
                    }
                },
                "velocity": {
                    "x": -4.2610697746276855,
                    "y": 0.019008351489901543,
                    "z": 0.023589495569467545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.418748378753662,
                "transform": {
                    "location": {
                        "x": 667.4141235351562,
                        "y": 4287.07177734375,
                        "z": 369.8704528808594
                    },
                    "rotation": {
                        "roll": -0.0006408693734556437,
                        "pitch": 0.6635391712188721,
                        "yaw": 179.68565368652344
                    }
                },
                "velocity": {
                    "x": -7.418518543243408,
                    "y": 0.041884761303663254,
                    "z": 0.040698688477277756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7687268257141113,
                "transform": {
                    "location": {
                        "x": 617.110595703125,
                        "y": 4287.41455078125,
                        "z": 370.12646484375
                    },
                    "rotation": {
                        "roll": 0.0003308868908789009,
                        "pitch": 0.03851543366909027,
                        "yaw": -179.9353485107422
                    }
                },
                "velocity": {
                    "x": -0.7687159776687622,
                    "y": -0.00287437136285007,
                    "z": 0.0028908730018883944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.330270767211914,
                "transform": {
                    "location": {
                        "x": 603.2363891601562,
                        "y": 4287.525390625,
                        "z": 370.22900390625
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": 0.4116145074367523,
                        "yaw": -179.87220764160156
                    }
                },
                "velocity": {
                    "x": -5.3301520347595215,
                    "y": -0.022972799837589264,
                    "z": 0.02715957537293434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.656903266906738,
                "transform": {
                    "location": {
                        "x": 678.6141357421875,
                        "y": 4290.25634765625,
                        "z": 369.81097412109375
                    },
                    "rotation": {
                        "roll": 0.0005876549403183162,
                        "pitch": 0.35904935002326965,
                        "yaw": 179.64100646972656
                    }
                },
                "velocity": {
                    "x": -8.656620025634766,
                    "y": 0.05115439370274544,
                    "z": 0.04779587686061859
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.630211591720581,
                "transform": {
                    "location": {
                        "x": 660.2737426757812,
                        "y": 4290.3623046875,
                        "z": 369.908935546875
                    },
                    "rotation": {
                        "roll": 0.0021082034800201654,
                        "pitch": 0.6167250871658325,
                        "yaw": 179.68734741210938
                    }
                },
                "velocity": {
                    "x": -3.63016414642334,
                    "y": 0.006048755720257759,
                    "z": 0.017539987340569496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007511138916016,
                "transform": {
                    "location": {
                        "x": 640.337890625,
                        "y": 4290.48046875,
                        "z": 370.0477294921875
                    },
                    "rotation": {
                        "roll": 0.0003689248114824295,
                        "pitch": 0.3003711998462677,
                        "yaw": 179.6533966064453
                    }
                },
                "velocity": {
                    "x": -8.0072603225708,
                    "y": 0.04840800538659096,
                    "z": 0.04100530594587326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021747589111328,
                "transform": {
                    "location": {
                        "x": 621.8698120117188,
                        "y": 4290.587890625,
                        "z": 370.0998840332031
                    },
                    "rotation": {
                        "roll": 1.1030614587070886e-05,
                        "pitch": 0.2840060889720917,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -8.02148151397705,
                    "y": 0.05107291415333748,
                    "z": 0.04077812284231186
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6689882278442383,
        "expert_target_speed": 0,
        "target_point": [
            15.604987471395694,
            4.426739416751511
        ],
        "target_point_next": [
            66.02915852946964,
            12.068751814391652
        ]
    },
    "250": {
        "acceleration": [
            12.512178421020508,
            -2.6278395652770996,
            -0.06472095847129822
        ],
        "angular_velocity": [
            -0.09903640300035477,
            -1.861273169517517,
            10.54297161102295
        ],
        "forward_vector": [
            -0.9944814443588257,
            0.10491069406270981,
            -0.0006263254908844829
        ],
        "right_vector": [
            -0.10491170734167099,
            -0.9944314956665039,
            0.009979228489100933
        ],
        "location": [
            644.8660278320312,
            4289.52685546875,
            369.9869079589844
        ],
        "rotation": [
            -0.5717772841453552,
            -0.03588581085205078,
            173.9779815673828
        ],
        "velocity": [
            -6.527059555053711,
            0.4925209581851959,
            0.0343107208609581
        ],
        "speed": 6.545615580636371,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.60590934753418,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                638.3314208984375,
                4290.4921875,
                370.0582275390625
            ],
            "velocity": [
                -8.04368782043457,
                0.04868004843592644,
                0.04140708968043327
            ],
            "speed_kmh": 28.95819011413722,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.076350212097168,
                "transform": {
                    "location": {
                        "x": 586.5719604492188,
                        "y": 4297.43701171875,
                        "z": 370.26470947265625
                    },
                    "rotation": {
                        "roll": -0.0067138671875,
                        "pitch": -0.24990294873714447,
                        "yaw": 0.37684860825538635
                    }
                },
                "velocity": {
                    "x": 8.076136589050293,
                    "y": 0.04836391657590866,
                    "z": -0.03330577164888382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.408028602600098,
                "transform": {
                    "location": {
                        "x": 626.702392578125,
                        "y": 4297.263671875,
                        "z": 370.08917236328125
                    },
                    "rotation": {
                        "roll": 0.0017800325294956565,
                        "pitch": -0.49093347787857056,
                        "yaw": -0.3817138671875
                    }
                },
                "velocity": {
                    "x": 5.407861709594727,
                    "y": -0.03232524171471596,
                    "z": -0.027530254796147346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082985877990723,
                "transform": {
                    "location": {
                        "x": 628.943603515625,
                        "y": 4293.99951171875,
                        "z": 370.06683349609375
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": -0.2878446578979492,
                        "yaw": -0.330902099609375
                    }
                },
                "velocity": {
                    "x": 8.082747459411621,
                    "y": -0.046788621693849564,
                    "z": -0.04085184633731842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024131774902344,
                "transform": {
                    "location": {
                        "x": 668.2930908203125,
                        "y": 4297.01806640625,
                        "z": 369.8537902832031
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.31390181183815,
                        "yaw": -0.3401488661766052
                    }
                },
                "velocity": {
                    "x": 8.023858070373535,
                    "y": -0.0490543507039547,
                    "z": -0.044510506093502045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028144836425781,
                "transform": {
                    "location": {
                        "x": 669.0398559570312,
                        "y": 4293.76220703125,
                        "z": 369.8561706542969
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": -0.3175969421863556,
                        "yaw": -0.3387451469898224
                    }
                },
                "velocity": {
                    "x": 8.027892112731934,
                    "y": -0.04562422260642052,
                    "z": -0.04441462457180023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.020805358886719,
                "transform": {
                    "location": {
                        "x": 710.8170776367188,
                        "y": 4296.75439453125,
                        "z": 369.6227722167969
                    },
                    "rotation": {
                        "roll": 0.001669235061854124,
                        "pitch": -0.33581307530403137,
                        "yaw": -0.5109862089157104
                    }
                },
                "velocity": {
                    "x": 8.020529747009277,
                    "y": -0.04852842167019844,
                    "z": -0.04547091946005821
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042193412780762,
                "transform": {
                    "location": {
                        "x": 710.6360473632812,
                        "y": 4293.51904296875,
                        "z": 369.62542724609375
                    },
                    "rotation": {
                        "roll": 0.00041015903116203845,
                        "pitch": -0.3337640166282654,
                        "yaw": -0.3457641303539276
                    }
                },
                "velocity": {
                    "x": 8.041905403137207,
                    "y": -0.05039627104997635,
                    "z": -0.04579763859510422
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.047343254089355,
                "transform": {
                    "location": {
                        "x": 587.4028930664062,
                        "y": 4294.1943359375,
                        "z": 370.27392578125
                    },
                    "rotation": {
                        "roll": 0.007075032684952021,
                        "pitch": -0.2505791485309601,
                        "yaw": 0.29995930194854736
                    }
                },
                "velocity": {
                    "x": 8.04721736907959,
                    "y": 0.022794246673583984,
                    "z": -0.038907408714294434
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.916301250457764,
                "transform": {
                    "location": {
                        "x": 684.227783203125,
                        "y": 4286.97021484375,
                        "z": 369.7706604003906
                    },
                    "rotation": {
                        "roll": 0.0007601878605782986,
                        "pitch": 0.3312983214855194,
                        "yaw": 179.8632049560547
                    }
                },
                "velocity": {
                    "x": -4.916146755218506,
                    "y": 0.028180815279483795,
                    "z": 0.026934336870908737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.656620025634766,
                "transform": {
                    "location": {
                        "x": 665.3943481445312,
                        "y": 4287.0830078125,
                        "z": 369.8817138671875
                    },
                    "rotation": {
                        "roll": 0.002541583962738514,
                        "pitch": 0.6455416083335876,
                        "yaw": 179.6088104248047
                    }
                },
                "velocity": {
                    "x": -8.656338691711426,
                    "y": 0.052355825901031494,
                    "z": 0.04620424285531044
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.754887580871582,
                "transform": {
                    "location": {
                        "x": 616.782470703125,
                        "y": 4287.4150390625,
                        "z": 370.12640380859375
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.4803125262260437,
                        "yaw": -179.88169860839844
                    }
                },
                "velocity": {
                    "x": -1.7548677921295166,
                    "y": -0.0033269296400249004,
                    "z": 0.007653512991964817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.832176208496094,
                "transform": {
                    "location": {
                        "x": 601.8855590820312,
                        "y": 4287.51953125,
                        "z": 370.2359313964844
                    },
                    "rotation": {
                        "roll": 0.0012573652202263474,
                        "pitch": 0.34420737624168396,
                        "yaw": -179.82557678222656
                    }
                },
                "velocity": {
                    "x": -5.832062721252441,
                    "y": -0.026526257395744324,
                    "z": 0.024928368628025055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7110161781311035,
                "transform": {
                    "location": {
                        "x": 676.6361694335938,
                        "y": 4290.2685546875,
                        "z": 369.8208923339844
                    },
                    "rotation": {
                        "roll": -0.0012817380484193563,
                        "pitch": 0.4837139844894409,
                        "yaw": 179.80624389648438
                    }
                },
                "velocity": {
                    "x": -6.710805416107178,
                    "y": 0.03847961872816086,
                    "z": 0.03674037754535675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4088577926158905,
                "transform": {
                    "location": {
                        "x": 659.9473266601562,
                        "y": 4290.36328125,
                        "z": 369.91015625
                    },
                    "rotation": {
                        "roll": 0.0003794094081968069,
                        "pitch": 0.6871716380119324,
                        "yaw": 179.69277954101562
                    }
                },
                "velocity": {
                    "x": -0.408844530582428,
                    "y": 0.0019110840512439609,
                    "z": 0.0026791286654770374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043941497802734,
                "transform": {
                    "location": {
                        "x": 638.3314208984375,
                        "y": 4290.4921875,
                        "z": 370.0582275390625
                    },
                    "rotation": {
                        "roll": -0.0001525877887615934,
                        "pitch": 0.3016894459724426,
                        "yaw": 179.65345764160156
                    }
                },
                "velocity": {
                    "x": -8.04368782043457,
                    "y": 0.04868004843592644,
                    "z": 0.04140708968043327
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990140914916992,
                "transform": {
                    "location": {
                        "x": 619.8685302734375,
                        "y": 4290.6015625,
                        "z": 370.1097106933594
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.27989429235458374,
                        "yaw": 179.63331604003906
                    }
                },
                "velocity": {
                    "x": -7.989881992340088,
                    "y": 0.05047469958662987,
                    "z": 0.039822690188884735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6664026975631714,
        "expert_target_speed": 0,
        "target_point": [
            14.024773548305955,
            3.628079641969396
        ],
        "target_point_next": [
            64.77403659001926,
            8.67879059218021
        ]
    },
    "255": {
        "acceleration": [
            3.9080333709716797,
            -1.2382149696350098,
            -0.021841228008270264
        ],
        "angular_velocity": [
            0.429565966129303,
            0.27653971314430237,
            8.89301586151123
        ],
        "forward_vector": [
            -0.997940182685852,
            0.06397801637649536,
            -0.004703623708337545
        ],
        "right_vector": [
            -0.06401389837265015,
            -0.9979175925254822,
            0.007920071482658386
        ],
        "location": [
            643.4658813476562,
            4289.60595703125,
            369.99505615234375
        ],
        "rotation": [
            -0.4537964165210724,
            -0.2694987654685974,
            176.331787109375
        ],
        "velocity": [
            -5.03995943069458,
            0.1211618185043335,
            0.027403898537158966
        ],
        "speed": 5.041415599740862,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.197177886962891,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                636.3253173828125,
                4290.50390625,
                370.06854248046875
            ],
            "velocity": [
                -8.00802230834961,
                0.04914966598153114,
                0.04043901339173317
            ],
            "speed_kmh": 28.82979085835792,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.103689193725586,
                "transform": {
                    "location": {
                        "x": 588.594482421875,
                        "y": 4297.44482421875,
                        "z": 370.25604248046875
                    },
                    "rotation": {
                        "roll": 0.0002561613800935447,
                        "pitch": -0.252990186214447,
                        "yaw": 0.2882302701473236
                    }
                },
                "velocity": {
                    "x": 8.103598594665527,
                    "y": 0.0164242684841156,
                    "z": -0.03468962758779526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.859248161315918,
                "transform": {
                    "location": {
                        "x": 628.2166748046875,
                        "y": 4297.25439453125,
                        "z": 370.0774841308594
                    },
                    "rotation": {
                        "roll": 0.0011968736071139574,
                        "pitch": 0.009487132541835308,
                        "yaw": -0.413909912109375
                    }
                },
                "velocity": {
                    "x": 6.859019756317139,
                    "y": -0.044190678745508194,
                    "z": -0.0343552827835083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046524047851562,
                "transform": {
                    "location": {
                        "x": 630.958740234375,
                        "y": 4293.98779296875,
                        "z": 370.0566711425781
                    },
                    "rotation": {
                        "roll": 0.00144768541213125,
                        "pitch": -0.29250967502593994,
                        "yaw": -0.33227530121803284
                    }
                },
                "velocity": {
                    "x": 8.046285629272461,
                    "y": -0.046606600284576416,
                    "z": -0.04070020094513893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075715065002441,
                "transform": {
                    "location": {
                        "x": 670.3057861328125,
                        "y": 4297.00634765625,
                        "z": 369.8427734375
                    },
                    "rotation": {
                        "roll": 7.78094690758735e-05,
                        "pitch": -0.3131982982158661,
                        "yaw": -0.3420104682445526
                    }
                },
                "velocity": {
                    "x": 8.075447082519531,
                    "y": -0.04818366467952728,
                    "z": -0.04481612890958786
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030657768249512,
                "transform": {
                    "location": {
                        "x": 671.046875,
                        "y": 4293.75048828125,
                        "z": 369.84515380859375
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.31750816106796265,
                        "yaw": -0.304656982421875
                    }
                },
                "velocity": {
                    "x": 8.030410766601562,
                    "y": -0.044694818556308746,
                    "z": -0.04436054080724716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.086265563964844,
                "transform": {
                    "location": {
                        "x": 712.8308715820312,
                        "y": 4296.7421875,
                        "z": 369.611083984375
                    },
                    "rotation": {
                        "roll": 0.0035412136930972338,
                        "pitch": -0.33368203043937683,
                        "yaw": -0.4955444931983948
                    }
                },
                "velocity": {
                    "x": 8.085973739624023,
                    "y": -0.04984494671225548,
                    "z": -0.04724426195025444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04296588897705,
                "transform": {
                    "location": {
                        "x": 712.646484375,
                        "y": 4293.5078125,
                        "z": 369.6137390136719
                    },
                    "rotation": {
                        "roll": 0.00023697767755948007,
                        "pitch": -0.3353554308414459,
                        "yaw": -0.3670653998851776
                    }
                },
                "velocity": {
                    "x": 8.042682647705078,
                    "y": -0.04980678856372833,
                    "z": -0.04551710933446884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.271051406860352,
                "transform": {
                    "location": {
                        "x": 589.4435424804688,
                        "y": 4294.19873046875,
                        "z": 370.263671875
                    },
                    "rotation": {
                        "roll": 0.01530773751437664,
                        "pitch": -0.2534478008747101,
                        "yaw": 0.11120370030403137
                    }
                },
                "velocity": {
                    "x": 8.270951271057129,
                    "y": 0.004451238550245762,
                    "z": -0.040368352085351944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.395168304443359,
                "transform": {
                    "location": {
                        "x": 682.9255981445312,
                        "y": 4286.97705078125,
                        "z": 369.7781982421875
                    },
                    "rotation": {
                        "roll": 0.0007697697728872299,
                        "pitch": 0.3321247696876526,
                        "yaw": 179.76138305664062
                    }
                },
                "velocity": {
                    "x": -5.394985675811768,
                    "y": 0.03263373672962189,
                    "z": 0.030063962563872337
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.87018871307373,
                "transform": {
                    "location": {
                        "x": 663.0729370117188,
                        "y": 4287.09765625,
                        "z": 369.8947448730469
                    },
                    "rotation": {
                        "roll": -0.00015258777420967817,
                        "pitch": 0.5812559127807617,
                        "yaw": 179.62330627441406
                    }
                },
                "velocity": {
                    "x": -9.869851112365723,
                    "y": 0.061453551054000854,
                    "z": 0.053649310022592545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7265536785125732,
                "transform": {
                    "location": {
                        "x": 616.215087890625,
                        "y": 4287.41357421875,
                        "z": 370.12847900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6444966197013855,
                        "yaw": -179.82415771484375
                    }
                },
                "velocity": {
                    "x": -2.726516008377075,
                    "y": -0.005632375832647085,
                    "z": 0.013148345984518528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.211954116821289,
                "transform": {
                    "location": {
                        "x": 600.3280639648438,
                        "y": 4287.51513671875,
                        "z": 370.24249267578125
                    },
                    "rotation": {
                        "roll": 0.011305643245577812,
                        "pitch": 0.41935309767723083,
                        "yaw": -179.87359619140625
                    }
                },
                "velocity": {
                    "x": -7.211874961853027,
                    "y": 0.0009906691266223788,
                    "z": 0.03383898735046387
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7059063911437988,
                "transform": {
                    "location": {
                        "x": 675.5343627929688,
                        "y": 4290.28369140625,
                        "z": 369.8244323730469
                    },
                    "rotation": {
                        "roll": 0.029774241149425507,
                        "pitch": 0.7601726651191711,
                        "yaw": -178.291748046875
                    }
                },
                "velocity": {
                    "x": -1.705155611038208,
                    "y": -0.049849580973386765,
                    "z": 0.008715839125216007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.507765769958496,
                "transform": {
                    "location": {
                        "x": 659.6804809570312,
                        "y": 4290.36474609375,
                        "z": 369.9149475097656
                    },
                    "rotation": {
                        "roll": -6.1035101680317894e-05,
                        "pitch": 0.27671825885772705,
                        "yaw": 179.7068634033203
                    }
                },
                "velocity": {
                    "x": -1.50771963596344,
                    "y": 0.009367791935801506,
                    "z": 0.007174825295805931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008275032043457,
                "transform": {
                    "location": {
                        "x": 636.3253173828125,
                        "y": 4290.50390625,
                        "z": 370.06854248046875
                    },
                    "rotation": {
                        "roll": 0.00035580951953306794,
                        "pitch": 0.2938210666179657,
                        "yaw": 179.64865112304688
                    }
                },
                "velocity": {
                    "x": -8.00802230834961,
                    "y": 0.04914966598153114,
                    "z": 0.04043901339173317
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022501945495605,
                "transform": {
                    "location": {
                        "x": 617.8667602539062,
                        "y": 4290.61376953125,
                        "z": 370.1194763183594
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": 0.2747921645641327,
                        "yaw": 179.6361846923828
                    }
                },
                "velocity": {
                    "x": -8.02225399017334,
                    "y": 0.05069487914443016,
                    "z": 0.03743690252304077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7475468516349792,
        "expert_target_speed": 0,
        "target_point": [
            12.759606521957002,
            3.038383341964591
        ],
        "target_point_next": [
            63.67348329518202,
            6.00056704667386
        ]
    },
    "260": {
        "acceleration": [
            0.012865066528320312,
            -0.8031591773033142,
            0.020548440515995026
        ],
        "angular_velocity": [
            0.4125880002975464,
            1.2342174053192139,
            9.567809104919434
        ],
        "forward_vector": [
            -0.9997645616531372,
            0.02168523706495762,
            -0.0007606743602082133
        ],
        "right_vector": [
            -0.021689945831894875,
            -0.99974125623703,
            0.0068522565998137
        ],
        "location": [
            642.26953125,
            4289.60791015625,
            370.0001525878906
        ],
        "rotation": [
            -0.39260855317115784,
            -0.04358343407511711,
            178.75743103027344
        ],
        "velocity": [
            -4.688374996185303,
            -0.13987292349338531,
            0.025470513850450516
        ],
        "speed": 4.690461015676617,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.002778053283691,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                634.3187866210938,
                4290.515625,
                370.0787658691406
            ],
            "velocity": [
                -8.042816162109375,
                0.04932517930865288,
                0.04010764881968498
            ],
            "speed_kmh": 28.955042687747312,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.064406394958496,
                "transform": {
                    "location": {
                        "x": 590.615234375,
                        "y": 4297.44921875,
                        "z": 370.2472229003906
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.2529287338256836,
                        "yaw": 0.07535991072654724
                    }
                },
                "velocity": {
                    "x": 8.064321517944336,
                    "y": 0.0037765123415738344,
                    "z": -0.03687654063105583
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.147872924804688,
                "transform": {
                    "location": {
                        "x": 630.1240234375,
                        "y": 4297.24267578125,
                        "z": 370.06744384765625
                    },
                    "rotation": {
                        "roll": 5.310260530677624e-05,
                        "pitch": 0.06877317279577255,
                        "yaw": -0.4379577040672302
                    }
                },
                "velocity": {
                    "x": 8.147614479064941,
                    "y": -0.05080839991569519,
                    "z": -0.04052678495645523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.089756965637207,
                "transform": {
                    "location": {
                        "x": 632.9761962890625,
                        "y": 4293.97607421875,
                        "z": 370.04644775390625
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.29144415259361267,
                        "yaw": -0.3349303901195526
                    }
                },
                "velocity": {
                    "x": 8.089515686035156,
                    "y": -0.04729413986206055,
                    "z": -0.04084029048681259
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025581359863281,
                "transform": {
                    "location": {
                        "x": 672.3179321289062,
                        "y": 4296.99462890625,
                        "z": 369.8316650390625
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.31594404578208923,
                        "yaw": -0.3418273329734802
                    }
                },
                "velocity": {
                    "x": 8.025311470031738,
                    "y": -0.04788293316960335,
                    "z": -0.04514007642865181
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030466079711914,
                "transform": {
                    "location": {
                        "x": 673.0546875,
                        "y": 4293.73876953125,
                        "z": 369.8341369628906
                    },
                    "rotation": {
                        "roll": 0.0017002153908833861,
                        "pitch": -0.3203153610229492,
                        "yaw": -0.3428954780101776
                    }
                },
                "velocity": {
                    "x": 8.030202865600586,
                    "y": -0.04745617136359215,
                    "z": -0.04441674053668976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 714.898681640625,
                        "y": 4296.68115234375,
                        "z": 369.59967041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 714.6995239257812,
                        "y": 4293.44873046875,
                        "z": 369.60150146484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05083179473877,
                "transform": {
                    "location": {
                        "x": 591.4827880859375,
                        "y": 4294.19970703125,
                        "z": 370.2543029785156
                    },
                    "rotation": {
                        "roll": 0.005880460608750582,
                        "pitch": -0.2575937509536743,
                        "yaw": -0.01837158016860485
                    }
                },
                "velocity": {
                    "x": 8.050748825073242,
                    "y": -0.005331381224095821,
                    "z": -0.036130391061306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.9779157638549805,
                "transform": {
                    "location": {
                        "x": 681.4766845703125,
                        "y": 4286.9853515625,
                        "z": 369.78619384765625
                    },
                    "rotation": {
                        "roll": 0.0014734426513314247,
                        "pitch": 0.3339347541332245,
                        "yaw": 179.6886749267578
                    }
                },
                "velocity": {
                    "x": -5.9777069091796875,
                    "y": 0.03741994872689247,
                    "z": 0.03313940018415451
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.366870880126953,
                "transform": {
                    "location": {
                        "x": 660.5548095703125,
                        "y": 4287.11376953125,
                        "z": 369.9093017578125
                    },
                    "rotation": {
                        "roll": -0.0025634763296693563,
                        "pitch": 0.45969220995903015,
                        "yaw": 179.72193908691406
                    }
                },
                "velocity": {
                    "x": -10.366548538208008,
                    "y": 0.05969005078077316,
                    "z": 0.055824801325798035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.047000885009766,
                "transform": {
                    "location": {
                        "x": 615.3670043945312,
                        "y": 4287.41357421875,
                        "z": 370.1320495605469
                    },
                    "rotation": {
                        "roll": 0.013085022568702698,
                        "pitch": 0.7840442061424255,
                        "yaw": -179.91798400878906
                    }
                },
                "velocity": {
                    "x": -4.046953201293945,
                    "y": 0.005919093731790781,
                    "z": 0.018791235983371735
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.710159778594971,
                "transform": {
                    "location": {
                        "x": 598.564453125,
                        "y": 4287.51513671875,
                        "z": 370.2518615722656
                    },
                    "rotation": {
                        "roll": 0.005404271185398102,
                        "pitch": 0.2781252861022949,
                        "yaw": -179.99655151367188
                    }
                },
                "velocity": {
                    "x": -6.710079193115234,
                    "y": 0.005145541857928038,
                    "z": 0.032532546669244766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.382988929748535,
                "transform": {
                    "location": {
                        "x": 675.0537109375,
                        "y": 4290.2822265625,
                        "z": 369.83013916015625
                    },
                    "rotation": {
                        "roll": 0.00024879942066036165,
                        "pitch": 0.38790008425712585,
                        "yaw": -178.5514373779297
                    }
                },
                "velocity": {
                    "x": -2.3829123973846436,
                    "y": 0.0140994843095541,
                    "z": 0.012898263521492481
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.417410373687744,
                "transform": {
                    "location": {
                        "x": 659.1845092773438,
                        "y": 4290.36767578125,
                        "z": 369.9179992675781
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.22132544219493866,
                        "yaw": 179.6845703125
                    }
                },
                "velocity": {
                    "x": -2.417330265045166,
                    "y": 0.01487455703318119,
                    "z": 0.01286454126238823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04306697845459,
                "transform": {
                    "location": {
                        "x": 634.3187866210938,
                        "y": 4290.515625,
                        "z": 370.0787658691406
                    },
                    "rotation": {
                        "roll": 5.440636959974654e-05,
                        "pitch": 0.2927555441856384,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.042816162109375,
                    "y": 0.04932517930865288,
                    "z": 0.04010764881968498
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990281105041504,
                "transform": {
                    "location": {
                        "x": 615.8654174804688,
                        "y": 4290.62548828125,
                        "z": 370.1290283203125
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.2751609981060028,
                        "yaw": 179.63844299316406
                    }
                },
                "velocity": {
                    "x": -7.990041732788086,
                    "y": 0.04982144385576248,
                    "z": 0.036661501973867416
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.8857904672622681,
        "expert_target_speed": 10.0,
        "target_point": [
            11.680655689251084,
            2.471647805482355
        ],
        "target_point_next": [
            62.67428102376162,
            3.2763562142570097
        ]
    },
    "265": {
        "acceleration": [
            -0.9648227691650391,
            -0.7998567819595337,
            -0.0002839788794517517
        ],
        "angular_velocity": [
            0.21935074031352997,
            0.8109663128852844,
            9.437843322753906
        ],
        "forward_vector": [
            -0.9997932314872742,
            -0.019969331100583076,
            0.0038353109266608953
        ],
        "right_vector": [
            0.01999042183160782,
            -0.9997847676277161,
            0.005541968159377575
        ],
        "location": [
            641.0775146484375,
            4289.5576171875,
            370.0054931640625
        ],
        "rotation": [
            -0.3175353407859802,
            0.2197476625442505,
            -178.8557586669922
        ],
        "velocity": [
            -4.851969242095947,
            -0.3324785530567169,
            0.02518836036324501
        ],
        "speed": 4.863347356963906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.818647384643555,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                632.312744140625,
                4290.52734375,
                370.0889892578125
            ],
            "velocity": [
                -8.008280754089355,
                0.04919736832380295,
                0.040383413434028625
            ],
            "speed_kmh": 28.830721278062626,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.09229564666748,
                "transform": {
                    "location": {
                        "x": 592.6348266601562,
                        "y": 4297.44921875,
                        "z": 370.2381286621094
                    },
                    "rotation": {
                        "roll": 0.001623423770070076,
                        "pitch": -0.258392870426178,
                        "yaw": -0.0958556979894638
                    }
                },
                "velocity": {
                    "x": 8.092192649841309,
                    "y": -0.01717897690832615,
                    "z": -0.03698541224002838
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.549985885620117,
                "transform": {
                    "location": {
                        "x": 632.2706298828125,
                        "y": 4297.228515625,
                        "z": 370.05853271484375
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": -0.15762026607990265,
                        "yaw": -0.3645934760570526
                    }
                },
                "velocity": {
                    "x": 8.549710273742676,
                    "y": -0.05211296305060387,
                    "z": -0.04468650743365288
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048922538757324,
                "transform": {
                    "location": {
                        "x": 634.9932861328125,
                        "y": 4293.96435546875,
                        "z": 370.0361328125
                    },
                    "rotation": {
                        "roll": 0.0003213677555322647,
                        "pitch": -0.2914714813232422,
                        "yaw": -0.33502197265625
                    }
                },
                "velocity": {
                    "x": 8.048677444458008,
                    "y": -0.047082360833883286,
                    "z": -0.04142087325453758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076431274414062,
                "transform": {
                    "location": {
                        "x": 674.3307495117188,
                        "y": 4296.98291015625,
                        "z": 369.82061767578125
                    },
                    "rotation": {
                        "roll": 0.0007913393201306462,
                        "pitch": -0.316224068403244,
                        "yaw": -0.3418883681297302
                    }
                },
                "velocity": {
                    "x": 8.076167106628418,
                    "y": -0.04814544692635536,
                    "z": -0.044211000204086304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029414176940918,
                "transform": {
                    "location": {
                        "x": 675.0619506835938,
                        "y": 4293.7275390625,
                        "z": 369.8231201171875
                    },
                    "rotation": {
                        "roll": 0.0003060213348362595,
                        "pitch": -0.32061588764190674,
                        "yaw": -0.3181762397289276
                    }
                },
                "velocity": {
                    "x": 8.029154777526855,
                    "y": -0.04647805169224739,
                    "z": -0.04491543024778366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 716.9808349609375,
                        "y": 4296.6318359375,
                        "z": 369.5881042480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 716.7813720703125,
                        "y": 4293.38916015625,
                        "z": 369.5892639160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.275105476379395,
                "transform": {
                    "location": {
                        "x": 593.5244140625,
                        "y": 4294.1962890625,
                        "z": 370.24530029296875
                    },
                    "rotation": {
                        "roll": 0.012105726636946201,
                        "pitch": -0.2593422830104828,
                        "yaw": -0.147186279296875
                    }
                },
                "velocity": {
                    "x": 8.274978637695312,
                    "y": -0.026986168697476387,
                    "z": -0.037065014243125916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.158545970916748,
                "transform": {
                    "location": {
                        "x": 679.81982421875,
                        "y": 4286.99560546875,
                        "z": 369.79534912109375
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.3447742760181427,
                        "yaw": 179.64727783203125
                    }
                },
                "velocity": {
                    "x": -7.158294677734375,
                    "y": 0.045169174671173096,
                    "z": 0.03938434645533562
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.573908805847168,
                "transform": {
                    "location": {
                        "x": 658.0538940429688,
                        "y": 4287.1279296875,
                        "z": 369.9249267578125
                    },
                    "rotation": {
                        "roll": -0.0023193361703306437,
                        "pitch": 0.18666906654834747,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": -9.573615074157715,
                    "y": 0.05410067364573479,
                    "z": 0.05185192823410034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.345725059509277,
                "transform": {
                    "location": {
                        "x": 614.1856079101562,
                        "y": 4287.4150390625,
                        "z": 370.1376037597656
                    },
                    "rotation": {
                        "roll": 0.010612953454256058,
                        "pitch": 0.8492110371589661,
                        "yaw": 179.98306274414062
                    }
                },
                "velocity": {
                    "x": -5.345640659332275,
                    "y": 0.009911991655826569,
                    "z": 0.02832537516951561
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7416510581970215,
                "transform": {
                    "location": {
                        "x": 597.0680541992188,
                        "y": 4287.5166015625,
                        "z": 370.26019287109375
                    },
                    "rotation": {
                        "roll": 0.0017378961201757193,
                        "pitch": 0.12088067829608917,
                        "yaw": 179.96255493164062
                    }
                },
                "velocity": {
                    "x": -4.741599082946777,
                    "y": 0.004643997643142939,
                    "z": 0.02168862335383892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2895398139953613,
                "transform": {
                    "location": {
                        "x": 674.3458251953125,
                        "y": 4290.2822265625,
                        "z": 369.8353576660156
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.23650211095809937,
                        "yaw": -179.07623291015625
                    }
                },
                "velocity": {
                    "x": -3.289428949356079,
                    "y": 0.019841603934764862,
                    "z": 0.018292903900146484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.347513437271118,
                "transform": {
                    "location": {
                        "x": 658.4642944335938,
                        "y": 4290.3720703125,
                        "z": 369.92193603515625
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.21243253350257874,
                        "yaw": 179.6712646484375
                    }
                },
                "velocity": {
                    "x": -3.3473970890045166,
                    "y": 0.021521909162402153,
                    "z": 0.017755908891558647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008533477783203,
                "transform": {
                    "location": {
                        "x": 632.312744140625,
                        "y": 4290.52734375,
                        "z": 370.0889892578125
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": 0.2928033769130707,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.008280754089355,
                    "y": 0.04919736832380295,
                    "z": 0.040383413434028625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022256851196289,
                "transform": {
                    "location": {
                        "x": 613.863525390625,
                        "y": 4290.63720703125,
                        "z": 370.13861083984375
                    },
                    "rotation": {
                        "roll": 0.000610235845670104,
                        "pitch": 0.2757073938846588,
                        "yaw": 179.64056396484375
                    }
                },
                "velocity": {
                    "x": -8.022011756896973,
                    "y": 0.05039610713720322,
                    "z": 0.03725527599453926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.881039023399353,
        "expert_target_speed": 10.0,
        "target_point": [
            10.580671717210867,
            1.9565790817245423
        ],
        "target_point_next": [
            61.563570139479914,
            0.6369394172009057
        ]
    },
    "270": {
        "acceleration": [
            0.23363113403320312,
            -0.6443703174591064,
            -0.01602761447429657
        ],
        "angular_velocity": [
            0.06422537565231323,
            0.06644461303949356,
            10.192835807800293
        ],
        "forward_vector": [
            -0.9980303645133972,
            -0.06245911121368408,
            0.005858029704540968
        ],
        "right_vector": [
            0.0624881386756897,
            -0.9980336427688599,
            0.00491023063659668
        ],
        "location": [
            639.8301391601562,
            4289.45556640625,
            370.0118408203125
        ],
        "rotation": [
            -0.28134143352508545,
            0.3356423079967499,
            -176.41896057128906
        ],
        "velocity": [
            -5.029163837432861,
            -0.5382705330848694,
            0.02770669013261795
        ],
        "speed": 5.057887312952898,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.5858793258667,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                630.3060913085938,
                4290.5390625,
                370.09918212890625
            ],
            "velocity": [
                -8.043927192687988,
                0.04938291385769844,
                0.04201182350516319
            ],
            "speed_kmh": 28.959078538068454,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.66820764541626,
                "transform": {
                    "location": {
                        "x": 594.6442260742188,
                        "y": 4297.4443359375,
                        "z": 370.2290954589844
                    },
                    "rotation": {
                        "roll": 0.0012070945231243968,
                        "pitch": -0.26665741205215454,
                        "yaw": -0.2294921875
                    }
                },
                "velocity": {
                    "x": 7.668074131011963,
                    "y": -0.028148090466856956,
                    "z": -0.035383690148591995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.035585403442383,
                "transform": {
                    "location": {
                        "x": 634.3343505859375,
                        "y": 4297.2158203125,
                        "z": 370.05010986328125
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.4409160017967224,
                        "yaw": -0.338623046875
                    }
                },
                "velocity": {
                    "x": 8.035334587097168,
                    "y": -0.04743053391575813,
                    "z": -0.042161863297224045
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083699226379395,
                "transform": {
                    "location": {
                        "x": 637.009765625,
                        "y": 4293.95263671875,
                        "z": 370.0258483886719
                    },
                    "rotation": {
                        "roll": 0.0007400921313092113,
                        "pitch": -0.2924481928348541,
                        "yaw": -0.3351440131664276
                    }
                },
                "velocity": {
                    "x": 8.083452224731445,
                    "y": -0.04725281521677971,
                    "z": -0.041889965534210205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023887634277344,
                "transform": {
                    "location": {
                        "x": 676.3431396484375,
                        "y": 4296.97119140625,
                        "z": 369.8094787597656
                    },
                    "rotation": {
                        "roll": 0.00013677726383320987,
                        "pitch": -0.3170163929462433,
                        "yaw": -0.3462524116039276
                    }
                },
                "velocity": {
                    "x": 8.023613929748535,
                    "y": -0.048496097326278687,
                    "z": -0.045220401138067245
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03044605255127,
                "transform": {
                    "location": {
                        "x": 677.0692749023438,
                        "y": 4293.71533203125,
                        "z": 369.81195068359375
                    },
                    "rotation": {
                        "roll": 0.0010825985809788108,
                        "pitch": -0.32156530022621155,
                        "yaw": -0.3525696098804474
                    }
                },
                "velocity": {
                    "x": 8.030179977416992,
                    "y": -0.04740893095731735,
                    "z": -0.04507455229759216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56511,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 719.063720703125,
                        "y": 4296.61865234375,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 56510,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 718.8641967773438,
                        "y": 4293.37255859375,
                        "z": 369.57708740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054964065551758,
                "transform": {
                    "location": {
                        "x": 595.5647583007812,
                        "y": 4294.189453125,
                        "z": 370.236083984375
                    },
                    "rotation": {
                        "roll": 0.004584262613207102,
                        "pitch": -0.2642258405685425,
                        "yaw": -0.22735588252544403
                    }
                },
                "velocity": {
                    "x": 8.054816246032715,
                    "y": -0.03268670663237572,
                    "z": -0.036128971725702286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.962013244628906,
                "transform": {
                    "location": {
                        "x": 677.9232788085938,
                        "y": 4287.00732421875,
                        "z": 369.8059387207031
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": 0.3399999737739563,
                        "yaw": 179.6177215576172
                    }
                },
                "velocity": {
                    "x": -7.961735725402832,
                    "y": 0.05022682994604111,
                    "z": 0.043557796627283096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.454559803009033,
                "transform": {
                    "location": {
                        "x": 656.080322265625,
                        "y": 4287.14013671875,
                        "z": 369.9411315917969
                    },
                    "rotation": {
                        "roll": -0.0038452136795967817,
                        "pitch": -0.4974016547203064,
                        "yaw": 179.8030548095703
                    }
                },
                "velocity": {
                    "x": -5.454415798187256,
                    "y": 0.027733398601412773,
                    "z": 0.028294000774621964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3980841636657715,
                "transform": {
                    "location": {
                        "x": 612.8388671875,
                        "y": 4287.4169921875,
                        "z": 370.1453552246094
                    },
                    "rotation": {
                        "roll": 0.006449466105550528,
                        "pitch": 0.5479450821876526,
                        "yaw": 179.9176025390625
                    }
                },
                "velocity": {
                    "x": -5.398013114929199,
                    "y": 0.011430342681705952,
                    "z": 0.025270117446780205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.487452268600464,
                "transform": {
                    "location": {
                        "x": 596.2261962890625,
                        "y": 4287.5166015625,
                        "z": 370.26373291015625
                    },
                    "rotation": {
                        "roll": 0.000758111069444567,
                        "pitch": 0.12203498184680939,
                        "yaw": 179.95411682128906
                    }
                },
                "velocity": {
                    "x": -3.487412452697754,
                    "y": 0.003825048916041851,
                    "z": 0.016215752810239792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.411769866943359,
                "transform": {
                    "location": {
                        "x": 673.3776245117188,
                        "y": 4290.2841796875,
                        "z": 369.8409423828125
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": 0.20587554574012756,
                        "yaw": -179.55902099609375
                    }
                },
                "velocity": {
                    "x": -4.411619663238525,
                    "y": 0.027348749339580536,
                    "z": 0.02403419464826584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.473416328430176,
                "transform": {
                    "location": {
                        "x": 657.48046875,
                        "y": 4290.3779296875,
                        "z": 369.9273681640625
                    },
                    "rotation": {
                        "roll": -0.0011291501577943563,
                        "pitch": 0.1957327276468277,
                        "yaw": 179.66259765625
                    }
                },
                "velocity": {
                    "x": -4.4732666015625,
                    "y": 0.02781113050878048,
                    "z": 0.023755645379424095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044188499450684,
                "transform": {
                    "location": {
                        "x": 630.3060913085938,
                        "y": 4290.5390625,
                        "z": 370.09918212890625
                    },
                    "rotation": {
                        "roll": 0.0005103250732645392,
                        "pitch": 0.2937527596950531,
                        "yaw": 179.64805603027344
                    }
                },
                "velocity": {
                    "x": -8.043927192687988,
                    "y": 0.04938291385769844,
                    "z": 0.04201182350516319
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990637302398682,
                "transform": {
                    "location": {
                        "x": 611.862060546875,
                        "y": 4290.6494140625,
                        "z": 370.1481628417969
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.27477848529815674,
                        "yaw": 179.64369201660156
                    }
                },
                "velocity": {
                    "x": -7.990400791168213,
                    "y": 0.049042776226997375,
                    "z": 0.03705136105418205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.530730128288269,
        "expert_target_speed": 10.0,
        "target_point": [
            9.402978263548569,
            1.481008760771463
        ],
        "target_point_next": [
            60.28366711390849,
            -2.0050897020443488
        ]
    },
    "275": {
        "acceleration": [
            0.9314441680908203,
            -0.5519521236419678,
            0.004781559109687805
        ],
        "angular_velocity": [
            0.2715088725090027,
            -0.3392241597175598,
            12.092278480529785
        ],
        "forward_vector": [
            -0.9947091937065125,
            -0.10258744657039642,
            0.00542506854981184
        ],
        "right_vector": [
            0.10261072218418121,
            -0.994712769985199,
            0.004199197515845299
        ],
        "location": [
            638.5723876953125,
            4289.3076171875,
            370.01849365234375
        ],
        "rotation": [
            -0.2406005710363388,
            0.310835063457489,
            -174.11172485351562
        ],
        "velocity": [
            -4.963785171508789,
            -0.7008236050605774,
            0.02527722343802452
        ],
        "speed": 5.013014757039984,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.347867012023926,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                628.2999267578125,
                4290.55126953125,
                370.1092529296875
            ],
            "velocity": [
                -8.006209373474121,
                0.050821736454963684,
                0.040224913507699966
            ],
            "speed_kmh": 28.82329819679045,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.750298976898193,
                "transform": {
                    "location": {
                        "x": 596.3929443359375,
                        "y": 4297.43701171875,
                        "z": 370.2213439941406
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2898254096508026,
                        "yaw": -0.2797850966453552
                    }
                },
                "velocity": {
                    "x": 6.750158309936523,
                    "y": -0.029876794666051865,
                    "z": -0.031729649752378464
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9446563720703125,
                "transform": {
                    "location": {
                        "x": 636.320556640625,
                        "y": 4297.2041015625,
                        "z": 370.03936767578125
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": -0.36703386902809143,
                        "yaw": -0.3279418647289276
                    }
                },
                "velocity": {
                    "x": 7.944423675537109,
                    "y": -0.04472804442048073,
                    "z": -0.04117419198155403
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052748680114746,
                "transform": {
                    "location": {
                        "x": 639.0266723632812,
                        "y": 4293.94091796875,
                        "z": 370.0154724121094
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.2998316287994385,
                        "yaw": -0.3350829780101776
                    }
                },
                "velocity": {
                    "x": 8.052507400512695,
                    "y": -0.047132108360528946,
                    "z": -0.04086650162935257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07662296295166,
                "transform": {
                    "location": {
                        "x": 678.3558349609375,
                        "y": 4296.95947265625,
                        "z": 369.7983093261719
                    },
                    "rotation": {
                        "roll": 0.00020501328981481493,
                        "pitch": -0.319577693939209,
                        "yaw": -0.3464966118335724
                    }
                },
                "velocity": {
                    "x": 8.076346397399902,
                    "y": -0.048819225281476974,
                    "z": -0.045620158314704895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030628204345703,
                "transform": {
                    "location": {
                        "x": 679.0768432617188,
                        "y": 4293.70361328125,
                        "z": 369.8008117675781
                    },
                    "rotation": {
                        "roll": 4.546375566860661e-05,
                        "pitch": -0.3243110179901123,
                        "yaw": -0.32879638671875
                    }
                },
                "velocity": {
                    "x": 8.03035831451416,
                    "y": -0.048189036548137665,
                    "z": -0.044910695403814316
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.279979705810547,
                "transform": {
                    "location": {
                        "x": 597.607666015625,
                        "y": 4294.1806640625,
                        "z": 370.22662353515625
                    },
                    "rotation": {
                        "roll": 0.004458677489310503,
                        "pitch": -0.26324230432510376,
                        "yaw": -0.266876220703125
                    }
                },
                "velocity": {
                    "x": 8.27979564666748,
                    "y": -0.040179889649152756,
                    "z": -0.037922319024801254
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.720166206359863,
                "transform": {
                    "location": {
                        "x": 675.8343505859375,
                        "y": 4287.02099609375,
                        "z": 369.8175354003906
                    },
                    "rotation": {
                        "roll": 0.0009468088392168283,
                        "pitch": 0.334993451833725,
                        "yaw": 179.64727783203125
                    }
                },
                "velocity": {
                    "x": -8.719855308532715,
                    "y": 0.05587635934352875,
                    "z": 0.04797597602009773
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00529836630448699,
                "transform": {
                    "location": {
                        "x": 655.4774780273438,
                        "y": 4287.1328125,
                        "z": 369.9494934082031
                    },
                    "rotation": {
                        "roll": -0.05157468467950821,
                        "pitch": -1.1756258010864258,
                        "yaw": 179.006591796875
                    }
                },
                "velocity": {
                    "x": 0.0005906320875510573,
                    "y": -0.005194151308387518,
                    "z": -0.0008629204821772873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.260739803314209,
                "transform": {
                    "location": {
                        "x": 611.2091064453125,
                        "y": 4287.4208984375,
                        "z": 370.1519775390625
                    },
                    "rotation": {
                        "roll": 0.004922124557197094,
                        "pitch": 0.8294649720191956,
                        "yaw": 179.88226318359375
                    }
                },
                "velocity": {
                    "x": -7.2606401443481445,
                    "y": 0.017138421535491943,
                    "z": 0.033959388732910156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.746323585510254,
                "transform": {
                    "location": {
                        "x": 595.1898803710938,
                        "y": 4287.52001953125,
                        "z": 370.2667236328125
                    },
                    "rotation": {
                        "roll": 0.003705585142597556,
                        "pitch": 0.3344811797142029,
                        "yaw": 179.89581298828125
                    }
                },
                "velocity": {
                    "x": -4.746246814727783,
                    "y": 0.01631092093884945,
                    "z": 0.0215622428804636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.197011470794678,
                "transform": {
                    "location": {
                        "x": 672.1426391601562,
                        "y": 4290.2890625,
                        "z": 369.8479309082031
                    },
                    "rotation": {
                        "roll": -0.0010070797288790345,
                        "pitch": 0.22006185352802277,
                        "yaw": -179.93690490722656
                    }
                },
                "velocity": {
                    "x": -5.1968302726745605,
                    "y": 0.033015795052051544,
                    "z": 0.028117742389440536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.290683746337891,
                "transform": {
                    "location": {
                        "x": 656.234375,
                        "y": 4290.3857421875,
                        "z": 369.93414306640625
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": 0.21500751376152039,
                        "yaw": 179.6532745361328
                    }
                },
                "velocity": {
                    "x": -5.290507793426514,
                    "y": 0.03217620402574539,
                    "z": 0.028751658275723457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006471633911133,
                "transform": {
                    "location": {
                        "x": 628.2999267578125,
                        "y": 4290.55126953125,
                        "z": 370.1092529296875
                    },
                    "rotation": {
                        "roll": 0.00023745409271214157,
                        "pitch": 0.2878788113594055,
                        "yaw": 179.6463623046875
                    }
                },
                "velocity": {
                    "x": -8.006209373474121,
                    "y": 0.050821736454963684,
                    "z": 0.040224913507699966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022625923156738,
                "transform": {
                    "location": {
                        "x": 609.8600463867188,
                        "y": 4290.66064453125,
                        "z": 370.15771484375
                    },
                    "rotation": {
                        "roll": 0.0003168265684507787,
                        "pitch": 0.2715546488761902,
                        "yaw": 179.64662170410156
                    }
                },
                "velocity": {
                    "x": -8.022383689880371,
                    "y": 0.04959394037723541,
                    "z": 0.03776073455810547
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1488310694694519,
        "expert_target_speed": 10.0,
        "target_point": [
            8.188684590200943,
            1.0831258095364398
        ],
        "target_point_next": [
            58.88778194923443,
            -4.448502102645538
        ]
    },
    "280": {
        "acceleration": [
            0.1995563507080078,
            -0.5260324478149414,
            0.008696727454662323
        ],
        "angular_velocity": [
            0.27348703145980835,
            -0.34002646803855896,
            11.374008178710938
        ],
        "forward_vector": [
            -0.9902382493019104,
            -0.13921689987182617,
            0.006848519667983055
        ],
        "right_vector": [
            0.1392454355955124,
            -0.990250289440155,
            0.0038795913569629192
        ],
        "location": [
            637.2474365234375,
            4289.103515625,
            370.02496337890625
        ],
        "rotation": [
            -0.22228997945785522,
            0.3923943340778351,
            -171.99728393554688
        ],
        "velocity": [
            -5.340850830078125,
            -0.9255677461624146,
            0.027533244341611862
        ],
        "speed": 5.420457844304517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.051056861877441,
        "front_vehicle_info": {
            "id": 56400,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                626.2935180664062,
                4290.5625,
                370.1192932128906
            ],
            "velocity": [
                -8.043390274047852,
                0.04994281753897667,
                0.041337087750434875
            ],
            "speed_kmh": 28.95714555374571,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.337693691253662,
                "transform": {
                    "location": {
                        "x": 598.13818359375,
                        "y": 4297.4287109375,
                        "z": 370.2129211425781
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.2555515170097351,
                        "yaw": -0.2995299994945526
                    }
                },
                "velocity": {
                    "x": 7.337522506713867,
                    "y": -0.037170518189668655,
                    "z": -0.03365376219153404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.135302543640137,
                "transform": {
                    "location": {
                        "x": 638.3341674804688,
                        "y": 4297.1923828125,
                        "z": 370.0279235839844
                    },
                    "rotation": {
                        "roll": 0.0010556515771895647,
                        "pitch": -0.2396235167980194,
                        "yaw": -0.3233336806297302
                    }
                },
                "velocity": {
                    "x": 8.1350679397583,
                    "y": -0.04619019478559494,
                    "z": -0.04101618379354477
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084010124206543,
                "transform": {
                    "location": {
                        "x": 641.0438842773438,
                        "y": 4293.92919921875,
                        "z": 370.0049133300781
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.30056247115135193,
                        "yaw": -0.3347778022289276
                    }
                },
                "velocity": {
                    "x": 8.08376407623291,
                    "y": -0.04726012051105499,
                    "z": -0.04176110774278641
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025944709777832,
                "transform": {
                    "location": {
                        "x": 680.3682861328125,
                        "y": 4296.94775390625,
                        "z": 369.787109375
                    },
                    "rotation": {
                        "roll": -0.00012207038525957614,
                        "pitch": -0.32153114676475525,
                        "yaw": -0.3461913466453552
                    }
                },
                "velocity": {
                    "x": 8.025675773620605,
                    "y": -0.04845844581723213,
                    "z": -0.04448223114013672
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029860496520996,
                "transform": {
                    "location": {
                        "x": 681.084228515625,
                        "y": 4293.69189453125,
                        "z": 369.78961181640625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.3243383467197418,
                        "yaw": -0.3564453125
                    }
                },
                "velocity": {
                    "x": 8.029590606689453,
                    "y": -0.04830731824040413,
                    "z": -0.04467475414276123
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05984115600586,
                "transform": {
                    "location": {
                        "x": 599.6489868164062,
                        "y": 4294.17041015625,
                        "z": 370.21722412109375
                    },
                    "rotation": {
                        "roll": 0.0028419699519872665,
                        "pitch": -0.27115166187286377,
                        "yaw": -0.297882080078125
                    }
                },
                "velocity": {
                    "x": 8.059647560119629,
                    "y": -0.041814349591732025,
                    "z": -0.037156008183956146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.618322372436523,
                "transform": {
                    "location": {
                        "x": 673.6192016601562,
                        "y": 4287.03466796875,
                        "z": 369.8298645019531
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.3174535036087036,
                        "yaw": 179.62966918945312
                    }
                },
                "velocity": {
                    "x": -8.618027687072754,
                    "y": 0.05316539481282234,
                    "z": 0.04748019203543663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4930170178413391,
                "transform": {
                    "location": {
                        "x": 655.4082641601562,
                        "y": 4287.13330078125,
                        "z": 369.9397888183594
                    },
                    "rotation": {
                        "roll": -0.005889891646802425,
                        "pitch": 0.07448320835828781,
                        "yaw": 178.9930877685547
                    }
                },
                "velocity": {
                    "x": -0.4929950535297394,
                    "y": 0.0026132201310247183,
                    "z": 0.0038519666995853186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.693202972412109,
                "transform": {
                    "location": {
                        "x": 609.2786254882812,
                        "y": 4287.42724609375,
                        "z": 370.16168212890625
                    },
                    "rotation": {
                        "roll": 0.012973250821232796,
                        "pitch": 0.6678148508071899,
                        "yaw": 179.8071746826172
                    }
                },
                "velocity": {
                    "x": -7.693056583404541,
                    "y": 0.03061974048614502,
                    "z": 0.03625159338116646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.0930399894714355,
                "transform": {
                    "location": {
                        "x": 593.9186401367188,
                        "y": 4287.52294921875,
                        "z": 370.2730407714844
                    },
                    "rotation": {
                        "roll": 0.0009869779460132122,
                        "pitch": 0.3072492182254791,
                        "yaw": 179.79815673828125
                    }
                },
                "velocity": {
                    "x": -5.092959880828857,
                    "y": 0.017794804647564888,
                    "z": 0.022374620661139488
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8368940353393555,
                "transform": {
                    "location": {
                        "x": 670.7809448242188,
                        "y": 4290.296875,
                        "z": 369.8550720214844
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": 0.24980048835277557,
                        "yaw": 179.87547302246094
                    }
                },
                "velocity": {
                    "x": -5.836697101593018,
                    "y": 0.03686587139964104,
                    "z": 0.030686693266034126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.787751197814941,
                "transform": {
                    "location": {
                        "x": 654.8665771484375,
                        "y": 4290.39404296875,
                        "z": 369.9411926269531
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.24135838449001312,
                        "yaw": 179.6913299560547
                    }
                },
                "velocity": {
                    "x": -5.787567138671875,
                    "y": 0.03494943678379059,
                    "z": 0.0301092229783535
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043651580810547,
                "transform": {
                    "location": {
                        "x": 626.2935180664062,
                        "y": 4290.5625,
                        "z": 370.1192932128906
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.28485986590385437,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -8.043390274047852,
                    "y": 0.04994281753897667,
                    "z": 0.041337087750434875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990213394165039,
                "transform": {
                    "location": {
                        "x": 607.8585815429688,
                        "y": 4290.6728515625,
                        "z": 370.16717529296875
                    },
                    "rotation": {
                        "roll": 4.124271799810231e-05,
                        "pitch": 0.2706872224807739,
                        "yaw": 179.64913940429688
                    }
                },
                "velocity": {
                    "x": -7.989977836608887,
                    "y": 0.04892287030816078,
                    "z": 0.03709030896425247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4154052734375,
        "expert_target_speed": 10.0,
        "target_point": [
            57.343094265694894,
            -6.635820546469815
        ],
        "target_point_next": [
            63.27957979205242,
            -7.506421085814296
        ]
    },
    "285": {
        "acceleration": [
            -7.166662216186523,
            -1.460270881652832,
            0.022422410547733307
        ],
        "angular_velocity": [
            -0.0248115137219429,
            1.983457326889038,
            1.7275810241699219
        ],
        "forward_vector": [
            -0.9861034750938416,
            -0.1658819317817688,
            0.009119383990764618
        ],
        "right_vector": [
            0.1659078299999237,
            -0.9861389398574829,
            0.0021554711274802685
        ],
        "location": [
            635.8621826171875,
            4288.8603515625,
            370.0315856933594
        ],
        "rotation": [
            -0.1235046237707138,
            0.5225094556808472,
            -170.4511260986328
        ],
        "velocity": [
            -6.1462225914001465,
            -1.1330584287643433,
            0.030828913673758507
        ],
        "speed": 6.249789880150488,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 28.409902572631836,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                607.4884033203125,
                4287.43505859375,
                370.17218017578125
            ],
            "velocity": [
                -6.638728618621826,
                0.02938167192041874,
                0.03202426806092262
            ],
            "speed_kmh": 23.89993515357211,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.125908851623535,
                "transform": {
                    "location": {
                        "x": 600.0604858398438,
                        "y": 4297.41845703125,
                        "z": 370.2039794921875
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.24792902171611786,
                        "yaw": -0.310272216796875
                    }
                },
                "velocity": {
                    "x": 8.125703811645508,
                    "y": -0.043353158980607986,
                    "z": -0.03818804770708084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.128917694091797,
                "transform": {
                    "location": {
                        "x": 640.3715209960938,
                        "y": 4297.1806640625,
                        "z": 370.0177307128906
                    },
                    "rotation": {
                        "roll": 0.0004089014255441725,
                        "pitch": -0.28548821806907654,
                        "yaw": -0.3239745795726776
                    }
                },
                "velocity": {
                    "x": 8.128683090209961,
                    "y": -0.04599316790699959,
                    "z": -0.0413220189511776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051246643066406,
                "transform": {
                    "location": {
                        "x": 643.0604858398438,
                        "y": 4293.91748046875,
                        "z": 369.9943542480469
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": -0.2998316287994385,
                        "yaw": -0.3349303603172302
                    }
                },
                "velocity": {
                    "x": 8.050999641418457,
                    "y": -0.04703954607248306,
                    "z": -0.042036022990942
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075578689575195,
                "transform": {
                    "location": {
                        "x": 682.380859375,
                        "y": 4296.93603515625,
                        "z": 369.77581787109375
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.32119646668434143,
                        "yaw": -0.34588623046875
                    }
                },
                "velocity": {
                    "x": 8.075305938720703,
                    "y": -0.04874854162335396,
                    "z": -0.045120224356651306
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03136920928955,
                "transform": {
                    "location": {
                        "x": 683.0918579101562,
                        "y": 4293.6806640625,
                        "z": 369.7783508300781
                    },
                    "rotation": {
                        "roll": -0.0028991694562137127,
                        "pitch": -0.3243725001811981,
                        "yaw": -0.3255615234375
                    }
                },
                "velocity": {
                    "x": 8.031111717224121,
                    "y": -0.046461839228868484,
                    "z": -0.04442397877573967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.285014152526855,
                "transform": {
                    "location": {
                        "x": 601.6932373046875,
                        "y": 4294.15966796875,
                        "z": 370.2076110839844
                    },
                    "rotation": {
                        "roll": 0.0011849612928926945,
                        "pitch": -0.2674565315246582,
                        "yaw": -0.3054808974266052
                    }
                },
                "velocity": {
                    "x": 8.284804344177246,
                    "y": -0.044828105717897415,
                    "z": -0.0382259227335453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.471562385559082,
                "transform": {
                    "location": {
                        "x": 671.6148071289062,
                        "y": 4287.04736328125,
                        "z": 369.8411560058594
                    },
                    "rotation": {
                        "roll": 0.000587375950999558,
                        "pitch": 0.29212716221809387,
                        "yaw": 179.6595001220703
                    }
                },
                "velocity": {
                    "x": -7.471310138702393,
                    "y": 0.04603544622659683,
                    "z": 0.04052966088056564
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5872462391853333,
                "transform": {
                    "location": {
                        "x": 655.2550048828125,
                        "y": 4287.1357421875,
                        "z": 369.93695068359375
                    },
                    "rotation": {
                        "roll": -0.0025634767953306437,
                        "pitch": 0.5487715005874634,
                        "yaw": 179.04063415527344
                    }
                },
                "velocity": {
                    "x": -0.5872210264205933,
                    "y": 0.004475816152989864,
                    "z": 0.0030933187808841467
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.638871192932129,
                "transform": {
                    "location": {
                        "x": 607.4884033203125,
                        "y": 4287.43505859375,
                        "z": 370.17218017578125
                    },
                    "rotation": {
                        "roll": 0.007969610393047333,
                        "pitch": 0.1266999989748001,
                        "yaw": 179.761962890625
                    }
                },
                "velocity": {
                    "x": -6.638728618621826,
                    "y": 0.02938167192041874,
                    "z": 0.03202426806092262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.746150970458984,
                "transform": {
                    "location": {
                        "x": 592.5851440429688,
                        "y": 4287.52734375,
                        "z": 370.2787170410156
                    },
                    "rotation": {
                        "roll": 0.0017130507621914148,
                        "pitch": 0.3295634388923645,
                        "yaw": 179.80453491210938
                    }
                },
                "velocity": {
                    "x": -5.746057033538818,
                    "y": 0.02152547985315323,
                    "z": 0.024864835664629936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0872802734375,
                "transform": {
                    "location": {
                        "x": 669.2361450195312,
                        "y": 4290.3056640625,
                        "z": 369.864013671875
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.18255046010017395,
                        "yaw": 179.736083984375
                    }
                },
                "velocity": {
                    "x": -7.087031841278076,
                    "y": 0.045399073511362076,
                    "z": 0.03824123367667198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0872483253479,
                "transform": {
                    "location": {
                        "x": 653.3059692382812,
                        "y": 4290.4033203125,
                        "z": 369.9500427246094
                    },
                    "rotation": {
                        "roll": 0.0002955812378786504,
                        "pitch": 0.17139676213264465,
                        "yaw": 179.67218017578125
                    }
                },
                "velocity": {
                    "x": -7.08702278137207,
                    "y": 0.04228532314300537,
                    "z": 0.03756330534815788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008343696594238,
                "transform": {
                    "location": {
                        "x": 624.287353515625,
                        "y": 4290.57421875,
                        "z": 370.1291809082031
                    },
                    "rotation": {
                        "roll": 0.00018767971778288484,
                        "pitch": 0.28477105498313904,
                        "yaw": 179.64454650878906
                    }
                },
                "velocity": {
                    "x": -8.008086204528809,
                    "y": 0.0497119165956974,
                    "z": 0.04062022268772125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022355079650879,
                "transform": {
                    "location": {
                        "x": 605.85693359375,
                        "y": 4290.68408203125,
                        "z": 370.1766662597656
                    },
                    "rotation": {
                        "roll": 0.00039890423067845404,
                        "pitch": 0.27167758345603943,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -8.02212142944336,
                    "y": 0.04860912635922432,
                    "z": 0.0372757725417614
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5949520468711853,
        "expert_target_speed": 10.0,
        "target_point": [
            55.736767359358566,
            -8.19065369699738
        ],
        "target_point_next": [
            61.64760060214775,
            -9.221117708837433
        ]
    },
    "290": {
        "acceleration": [
            -2.7048492431640625,
            0.1311349868774414,
            0.015629753470420837
        ],
        "angular_velocity": [
            0.6871980428695679,
            -0.0015576966106891632,
            1.2709769010543823
        ],
        "forward_vector": [
            -0.9850053787231445,
            -0.17214980721473694,
            0.01134990993887186
        ],
        "right_vector": [
            0.17215044796466827,
            -0.9850702285766602,
            -0.0009274848271161318
        ],
        "location": [
            634.2111206054688,
            4288.56787109375,
            370.0395202636719
        ],
        "rotation": [
            0.05314439907670021,
            0.6503159403800964,
            -170.08651733398438
        ],
        "velocity": [
            -6.954496383666992,
            -1.186477541923523,
            0.033935945481061935
        ],
        "speed": 7.054980432852111,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.658565521240234,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                606.5759887695312,
                4287.4384765625,
                370.1817626953125
            ],
            "velocity": [
                -0.5794653296470642,
                0.0023316964507102966,
                0.0011527633760124445
            ],
            "speed_kmh": 2.0860962029096295,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.525269508361816,
                "transform": {
                    "location": {
                        "x": 602.2177124023438,
                        "y": 4297.4072265625,
                        "z": 370.1939392089844
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.25140559673309326,
                        "yaw": -0.316070556640625
                    }
                },
                "velocity": {
                    "x": 8.525041580200195,
                    "y": -0.047142185270786285,
                    "z": -0.040880072861909866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.020339012145996,
                "transform": {
                    "location": {
                        "x": 642.3865966796875,
                        "y": 4297.1689453125,
                        "z": 370.0075988769531
                    },
                    "rotation": {
                        "roll": 0.0010195396607741714,
                        "pitch": -0.3312026858329773,
                        "yaw": -0.32147216796875
                    }
                },
                "velocity": {
                    "x": 8.020109176635742,
                    "y": -0.04497367888689041,
                    "z": -0.040910571813583374
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08474063873291,
                "transform": {
                    "location": {
                        "x": 645.0776977539062,
                        "y": 4293.90576171875,
                        "z": 369.98382568359375
                    },
                    "rotation": {
                        "roll": -0.0017395020695403218,
                        "pitch": -0.29980430006980896,
                        "yaw": -0.3348388671875
                    }
                },
                "velocity": {
                    "x": 8.084494590759277,
                    "y": -0.04729759693145752,
                    "z": -0.04172790050506592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02428913116455,
                "transform": {
                    "location": {
                        "x": 684.3931884765625,
                        "y": 4296.92431640625,
                        "z": 369.7644958496094
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.32265812158584595,
                        "yaw": -0.3463439345359802
                    }
                },
                "velocity": {
                    "x": 8.02402114868164,
                    "y": -0.04849792271852493,
                    "z": -0.044213082641363144
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030001640319824,
                "transform": {
                    "location": {
                        "x": 685.0994873046875,
                        "y": 4293.66845703125,
                        "z": 369.76708984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.32821789383888245,
                        "yaw": -0.351409912109375
                    }
                },
                "velocity": {
                    "x": 8.029739379882812,
                    "y": -0.047051265835762024,
                    "z": -0.04465489834547043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065329551696777,
                "transform": {
                    "location": {
                        "x": 603.7357177734375,
                        "y": 4294.14794921875,
                        "z": 370.1980895996094
                    },
                    "rotation": {
                        "roll": 0.001203998108394444,
                        "pitch": -0.2738359272480011,
                        "yaw": -0.3134154975414276
                    }
                },
                "velocity": {
                    "x": 8.0651216506958,
                    "y": -0.044271595776081085,
                    "z": -0.03725379332900047
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.225977420806885,
                "transform": {
                    "location": {
                        "x": 669.98779296875,
                        "y": 4287.0576171875,
                        "z": 369.8502502441406
                    },
                    "rotation": {
                        "roll": 0.00021262407244648784,
                        "pitch": 0.2720259428024292,
                        "yaw": 179.71705627441406
                    }
                },
                "velocity": {
                    "x": -5.225823879241943,
                    "y": 0.02816849574446678,
                    "z": 0.02849489077925682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7264772057533264,
                "transform": {
                    "location": {
                        "x": 655.1025390625,
                        "y": 4287.13720703125,
                        "z": 369.9393310546875
                    },
                    "rotation": {
                        "roll": -0.0037231440655887127,
                        "pitch": 0.3518981635570526,
                        "yaw": 179.07183837890625
                    }
                },
                "velocity": {
                    "x": -0.7264469861984253,
                    "y": 0.006126176565885544,
                    "z": 0.0025125027168542147
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5794711709022522,
                "transform": {
                    "location": {
                        "x": 606.5759887695312,
                        "y": 4287.4384765625,
                        "z": 370.1817626953125
                    },
                    "rotation": {
                        "roll": 0.0033591515384614468,
                        "pitch": -1.3528759479522705,
                        "yaw": 179.75323486328125
                    }
                },
                "velocity": {
                    "x": -0.5794653296470642,
                    "y": 0.0023316964507102966,
                    "z": 0.0011527633760124445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.079861640930176,
                "transform": {
                    "location": {
                        "x": 591.0533447265625,
                        "y": 4287.53369140625,
                        "z": 370.2850646972656
                    },
                    "rotation": {
                        "roll": 0.0009981716284528375,
                        "pitch": 0.3777299225330353,
                        "yaw": 179.80874633789062
                    }
                },
                "velocity": {
                    "x": -7.079744815826416,
                    "y": 0.026177342981100082,
                    "z": 0.031119441613554955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.882918834686279,
                "transform": {
                    "location": {
                        "x": 667.3290405273438,
                        "y": 4290.31787109375,
                        "z": 369.8742370605469
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.20765140652656555,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -7.882636070251465,
                    "y": 0.05247429385781288,
                    "z": 0.04122468829154968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.2586030960083,
                "transform": {
                    "location": {
                        "x": 651.365478515625,
                        "y": 4290.4150390625,
                        "z": 369.96026611328125
                    },
                    "rotation": {
                        "roll": 5.365501237974968e-06,
                        "pitch": 0.1778649389743805,
                        "yaw": 179.65509033203125
                    }
                },
                "velocity": {
                    "x": -8.258331298828125,
                    "y": 0.05156401917338371,
                    "z": 0.04283077269792557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042835235595703,
                "transform": {
                    "location": {
                        "x": 622.2808837890625,
                        "y": 4290.5869140625,
                        "z": 370.1390686035156
                    },
                    "rotation": {
                        "roll": 0.0008506488520652056,
                        "pitch": 0.2852628231048584,
                        "yaw": 179.6410369873047
                    }
                },
                "velocity": {
                    "x": -8.042574882507324,
                    "y": 0.050301045179367065,
                    "z": 0.04057331010699272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990472793579102,
                "transform": {
                    "location": {
                        "x": 603.8552856445312,
                        "y": 4290.6962890625,
                        "z": 370.1861572265625
                    },
                    "rotation": {
                        "roll": 0.0005432446487247944,
                        "pitch": 0.27180737257003784,
                        "yaw": 179.65464782714844
                    }
                },
                "velocity": {
                    "x": -7.990240097045898,
                    "y": 0.048246126621961594,
                    "z": 0.03729048743844032
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6113486289978027,
        "expert_target_speed": 10.0,
        "target_point": [
            54.006755463064124,
            -8.549025684147338
        ],
        "target_point_next": [
            59.910911831224226,
            -9.617081527291187
        ]
    },
    "295": {
        "acceleration": [
            -2.6340293884277344,
            0.6790423393249512,
            0.001993998885154724
        ],
        "angular_velocity": [
            0.7761803865432739,
            0.005905800499022007,
            -8.986743927001953
        ],
        "forward_vector": [
            -0.988038957118988,
            -0.15383604168891907,
            0.010654248297214508
        ],
        "right_vector": [
            0.153798446059227,
            -0.9880930185317993,
            -0.004267980810254812
        ],
        "location": [
            632.3870849609375,
            4288.28125,
            370.0489501953125
        ],
        "rotation": [
            0.2445518970489502,
            0.6104549765586853,
            -171.1501922607422
        ],
        "velocity": [
            -7.614059925079346,
            -1.0722280740737915,
            0.037596121430397034
        ],
        "speed": 7.689186015797204,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 26.004859924316406,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                606.3961791992188,
                4287.439453125,
                370.17919921875
            ],
            "velocity": [
                -1.3177509307861328,
                0.0047776238061487675,
                0.0076515767723321915
            ],
            "speed_kmh": 4.744014501162129,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.158281326293945,
                "transform": {
                    "location": {
                        "x": 604.2944946289062,
                        "y": 4297.3955078125,
                        "z": 370.1843566894531
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.2819570302963257,
                        "yaw": -0.3191222846508026
                    }
                },
                "velocity": {
                    "x": 8.158055305480957,
                    "y": -0.045950498431921005,
                    "z": -0.03960224986076355
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092934608459473,
                "transform": {
                    "location": {
                        "x": 644.4000854492188,
                        "y": 4297.1572265625,
                        "z": 369.9967346191406
                    },
                    "rotation": {
                        "roll": 0.0002118731354130432,
                        "pitch": -0.299100786447525,
                        "yaw": -0.3230895400047302
                    }
                },
                "velocity": {
                    "x": 8.092700004577637,
                    "y": -0.04580414295196533,
                    "z": -0.04120861366391182
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0512056350708,
                "transform": {
                    "location": {
                        "x": 647.0944213867188,
                        "y": 4293.89404296875,
                        "z": 369.97314453125
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": -0.303069144487381,
                        "yaw": -0.3423461318016052
                    }
                },
                "velocity": {
                    "x": 8.050958633422852,
                    "y": -0.04818325489759445,
                    "z": -0.04075146093964577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076960563659668,
                "transform": {
                    "location": {
                        "x": 686.406005859375,
                        "y": 4296.91259765625,
                        "z": 369.75323486328125
                    },
                    "rotation": {
                        "roll": 0.0014335309388116002,
                        "pitch": -0.3239421844482422,
                        "yaw": -0.349395751953125
                    }
                },
                "velocity": {
                    "x": 8.076687812805176,
                    "y": -0.04930703714489937,
                    "z": -0.04432530701160431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030396461486816,
                "transform": {
                    "location": {
                        "x": 687.1068115234375,
                        "y": 4293.65673828125,
                        "z": 369.7557373046875
                    },
                    "rotation": {
                        "roll": 0.00028552187723107636,
                        "pitch": -0.3280266523361206,
                        "yaw": -0.3259581923484802
                    }
                },
                "velocity": {
                    "x": 8.030131340026855,
                    "y": -0.047550514340400696,
                    "z": -0.04469737410545349
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.653575897216797,
                "transform": {
                    "location": {
                        "x": 605.4893798828125,
                        "y": 4294.13623046875,
                        "z": 370.19378662109375
                    },
                    "rotation": {
                        "roll": 0.0004892981378361583,
                        "pitch": -0.7550910115242004,
                        "yaw": -0.0900573655962944
                    }
                },
                "velocity": {
                    "x": 5.653407573699951,
                    "y": -0.03406694903969765,
                    "z": -0.027289733290672302
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.003691843943670392,
                "transform": {
                    "location": {
                        "x": 669.35302734375,
                        "y": 4287.060546875,
                        "z": 369.85406494140625
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": 0.19987864792346954,
                        "yaw": 179.7991180419922
                    }
                },
                "velocity": {
                    "x": -0.003642883151769638,
                    "y": -0.0005571403889916837,
                    "z": 0.00022070057457312942
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.855406641960144,
                "transform": {
                    "location": {
                        "x": 654.7836303710938,
                        "y": 4287.14111328125,
                        "z": 369.9396667480469
                    },
                    "rotation": {
                        "roll": -0.009002684615552425,
                        "pitch": 0.493843138217926,
                        "yaw": 179.20965576171875
                    }
                },
                "velocity": {
                    "x": -1.8553266525268555,
                    "y": 0.014358282089233398,
                    "z": 0.009524059481918812
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3177818059921265,
                "transform": {
                    "location": {
                        "x": 606.3961791992188,
                        "y": 4287.439453125,
                        "z": 370.17919921875
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": -0.464999258518219,
                        "yaw": 179.73020935058594
                    }
                },
                "velocity": {
                    "x": -1.3177509307861328,
                    "y": 0.0047776238061487675,
                    "z": 0.0076515767723321915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.640907287597656,
                "transform": {
                    "location": {
                        "x": 589.1341552734375,
                        "y": 4287.54248046875,
                        "z": 370.29388427734375
                    },
                    "rotation": {
                        "roll": 0.0022326032631099224,
                        "pitch": 0.3382309377193451,
                        "yaw": 179.7469024658203
                    }
                },
                "velocity": {
                    "x": -7.640745162963867,
                    "y": 0.03766346722841263,
                    "z": 0.03248569369316101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9375691413879395,
                "transform": {
                    "location": {
                        "x": 665.347900390625,
                        "y": 4290.33056640625,
                        "z": 369.88427734375
                    },
                    "rotation": {
                        "roll": 0.0006122139166109264,
                        "pitch": 0.29533734917640686,
                        "yaw": 179.63658142089844
                    }
                },
                "velocity": {
                    "x": -7.937294960021973,
                    "y": 0.050396036356687546,
                    "z": 0.042584676295518875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.211701393127441,
                "transform": {
                    "location": {
                        "x": 649.3138427734375,
                        "y": 4290.42724609375,
                        "z": 369.9703063964844
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.2790610194206238,
                        "yaw": 179.65069580078125
                    }
                },
                "velocity": {
                    "x": -8.211419105529785,
                    "y": 0.051767896860837936,
                    "z": 0.04417331516742706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00826644897461,
                "transform": {
                    "location": {
                        "x": 620.2748413085938,
                        "y": 4290.5986328125,
                        "z": 370.14892578125
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.28230535984039307,
                        "yaw": 179.6404266357422
                    }
                },
                "velocity": {
                    "x": -8.008011817932129,
                    "y": 0.050333503633737564,
                    "z": 0.03929203748703003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022488594055176,
                "transform": {
                    "location": {
                        "x": 601.8534545898438,
                        "y": 4290.70751953125,
                        "z": 370.19549560546875
                    },
                    "rotation": {
                        "roll": 0.00036459541297517717,
                        "pitch": 0.268952339887619,
                        "yaw": 179.65025329589844
                    }
                },
                "velocity": {
                    "x": -8.022250175476074,
                    "y": 0.049115750938653946,
                    "z": 0.037650786340236664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2844037413597107,
        "expert_target_speed": 10.0,
        "target_point": [
            52.30973434746629,
            -7.547581635385538
        ],
        "target_point_next": [
            58.232700315162354,
            -8.505850829961597
        ]
    },
    "300": {
        "acceleration": [
            -2.2392845153808594,
            0.8465290069580078,
            0.004194602370262146
        ],
        "angular_velocity": [
            0.25080806016921997,
            -0.11693669110536575,
            -5.3939337730407715
        ],
        "forward_vector": [
            -0.9924286603927612,
            -0.12240394949913025,
            0.010127966292202473
        ],
        "right_vector": [
            0.12234457582235336,
            -0.9924677014350891,
            -0.006289601791650057
        ],
        "location": [
            630.4035034179688,
            4288.03173828125,
            370.05908203125
        ],
        "rotation": [
            0.36038848757743835,
            0.5802996754646301,
            -172.96878051757812
        ],
        "velocity": [
            -8.222697257995605,
            -0.8828442096710205,
            0.04144936427474022
        ],
        "speed": 8.269955507449728,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.465362548828125,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                605.945556640625,
                4287.44140625,
                370.1785888671875
            ],
            "velocity": [
                -2.275963306427002,
                0.011429897509515285,
                0.009650306776165962
            ],
            "speed_kmh": 8.193644875854329,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.37492561340332,
                "transform": {
                    "location": {
                        "x": 606.2862548828125,
                        "y": 4297.3837890625,
                        "z": 370.1750183105469
                    },
                    "rotation": {
                        "roll": 6.543035851791501e-05,
                        "pitch": -0.2903103530406952,
                        "yaw": -0.3253173232078552
                    }
                },
                "velocity": {
                    "x": 7.374722003936768,
                    "y": -0.041637055575847626,
                    "z": -0.035631727427244186
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.080878257751465,
                "transform": {
                    "location": {
                        "x": 646.4234008789062,
                        "y": 4297.1455078125,
                        "z": 369.9860534667969
                    },
                    "rotation": {
                        "roll": 0.0006381466519087553,
                        "pitch": -0.291806161403656,
                        "yaw": -0.326690673828125
                    }
                },
                "velocity": {
                    "x": 8.080642700195312,
                    "y": -0.046035874634981155,
                    "z": -0.04116038233041763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084972381591797,
                "transform": {
                    "location": {
                        "x": 649.1115112304688,
                        "y": 4293.88232421875,
                        "z": 369.9625244140625
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -0.3045307993888855,
                        "yaw": -0.34539794921875
                    }
                },
                "velocity": {
                    "x": 8.084716796875,
                    "y": -0.04886811599135399,
                    "z": -0.04179191589355469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025317192077637,
                "transform": {
                    "location": {
                        "x": 688.4183959960938,
                        "y": 4296.90087890625,
                        "z": 369.7418212890625
                    },
                    "rotation": {
                        "roll": 0.0007482027285732329,
                        "pitch": -0.324891597032547,
                        "yaw": -0.3500061333179474
                    }
                },
                "velocity": {
                    "x": 8.025041580200195,
                    "y": -0.0490315705537796,
                    "z": -0.044950611889362335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031142234802246,
                "transform": {
                    "location": {
                        "x": 689.114501953125,
                        "y": 4293.64501953125,
                        "z": 369.7443542480469
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.32808810472488403,
                        "yaw": -0.35186767578125
                    }
                },
                "velocity": {
                    "x": 8.030874252319336,
                    "y": -0.04744630306959152,
                    "z": -0.0452711246907711
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.010095596313477,
                "transform": {
                    "location": {
                        "x": 606.7865600585938,
                        "y": 4294.12841796875,
                        "z": 370.1864318847656
                    },
                    "rotation": {
                        "roll": -0.00457763671875,
                        "pitch": -0.6003394722938538,
                        "yaw": -0.1419677734375
                    }
                },
                "velocity": {
                    "x": 5.009947299957275,
                    "y": -0.02916261926293373,
                    "z": -0.02523817867040634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5867009162902832,
                "transform": {
                    "location": {
                        "x": 669.2832641601562,
                        "y": 4287.06103515625,
                        "z": 369.85382080078125
                    },
                    "rotation": {
                        "roll": 0.0007891296409070492,
                        "pitch": 0.2956310510635376,
                        "yaw": 179.8269805908203
                    }
                },
                "velocity": {
                    "x": -0.5866842269897461,
                    "y": 0.004021309316158295,
                    "z": 0.001847333856858313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5936022400856018,
                "transform": {
                    "location": {
                        "x": 654.2960205078125,
                        "y": 4287.14599609375,
                        "z": 369.9437561035156
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": 0.3214081823825836,
                        "yaw": 179.34764099121094
                    }
                },
                "velocity": {
                    "x": -0.593567430973053,
                    "y": 0.005118203815072775,
                    "z": 0.003891067346557975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.276012420654297,
                "transform": {
                    "location": {
                        "x": 605.945556640625,
                        "y": 4287.44140625,
                        "z": 370.1785888671875
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.32258981466293335,
                        "yaw": 179.7470245361328
                    }
                },
                "velocity": {
                    "x": -2.275963306427002,
                    "y": 0.011429897509515285,
                    "z": 0.009650306776165962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.359921932220459,
                "transform": {
                    "location": {
                        "x": 587.2763671875,
                        "y": 4287.55126953125,
                        "z": 370.30279541015625
                    },
                    "rotation": {
                        "roll": 0.00043598629417829216,
                        "pitch": 0.24376261234283447,
                        "yaw": 179.72799682617188
                    }
                },
                "velocity": {
                    "x": -7.35976505279541,
                    "y": 0.03492254018783569,
                    "z": 0.0330083854496479
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052964210510254,
                "transform": {
                    "location": {
                        "x": 663.3638305664062,
                        "y": 4290.3427734375,
                        "z": 369.89501953125
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": 0.293657124042511,
                        "yaw": 179.63580322265625
                    }
                },
                "velocity": {
                    "x": -8.05268669128418,
                    "y": 0.051202673465013504,
                    "z": 0.04284870997071266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.958995819091797,
                "transform": {
                    "location": {
                        "x": 647.1719970703125,
                        "y": 4290.44091796875,
                        "z": 369.9820556640625
                    },
                    "rotation": {
                        "roll": 0.0003961364855058491,
                        "pitch": 0.24273808300495148,
                        "yaw": 179.64938354492188
                    }
                },
                "velocity": {
                    "x": -8.958706855773926,
                    "y": 0.05476168915629387,
                    "z": 0.04666196554899216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04443359375,
                "transform": {
                    "location": {
                        "x": 618.2682495117188,
                        "y": 4290.6103515625,
                        "z": 370.15875244140625
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.27614453434944153,
                        "yaw": 179.64418029785156
                    }
                },
                "velocity": {
                    "x": -8.044187545776367,
                    "y": 0.04988662526011467,
                    "z": 0.03834113851189613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990696430206299,
                "transform": {
                    "location": {
                        "x": 599.8518676757812,
                        "y": 4290.7197265625,
                        "z": 370.2049255371094
                    },
                    "rotation": {
                        "roll": 0.00038250110810622573,
                        "pitch": 0.2673608958721161,
                        "yaw": 179.6502685546875
                    }
                },
                "velocity": {
                    "x": -7.990461826324463,
                    "y": 0.04845186695456505,
                    "z": 0.03741855546832085
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14577805995941162,
        "expert_target_speed": 10.0,
        "target_point": [
            50.52370157222785,
            -5.8885629249237805
        ],
        "target_point_next": [
            56.474094813474835,
            -6.658384968178814
        ]
    },
    "305": {
        "acceleration": [
            -1.8362808227539062,
            1.0274684429168701,
            0.01222170889377594
        ],
        "angular_velocity": [
            0.23923909664154053,
            -0.18145033717155457,
            -10.313695907592773
        ],
        "forward_vector": [
            -0.9960862994194031,
            -0.08788971602916718,
            0.009351235814392567
        ],
        "right_vector": [
            0.08782390505075455,
            -0.9961097836494446,
            -0.007230530492961407
        ],
        "location": [
            628.28125,
            4287.83349609375,
            370.0699462890625
        ],
        "rotation": [
            0.4143005907535553,
            0.5357941389083862,
            -174.9575653076172
        ],
        "velocity": [
            -8.724979400634766,
            -0.6492449045181274,
            0.04212621599435806
        ],
        "speed": 8.749101924628821,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 23.084888458251953,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                605.1998901367188,
                4287.4453125,
                370.1806945800781
            ],
            "velocity": [
                -3.6651322841644287,
                0.018834833055734634,
                0.01737813837826252
            ],
            "speed_kmh": 13.194798758876965,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.832616329193115,
                "transform": {
                    "location": {
                        "x": 608.0205078125,
                        "y": 4297.375,
                        "z": 370.1668701171875
                    },
                    "rotation": {
                        "roll": 0.0002702478086575866,
                        "pitch": -0.29550811648368835,
                        "yaw": -0.3944701850414276
                    }
                },
                "velocity": {
                    "x": 6.832413673400879,
                    "y": -0.04060197249054909,
                    "z": -0.03341624513268471
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.086570739746094,
                "transform": {
                    "location": {
                        "x": 648.4439697265625,
                        "y": 4297.1337890625,
                        "z": 369.9755859375
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.311524897813797,
                        "yaw": -0.3272095024585724
                    }
                },
                "velocity": {
                    "x": 8.086333274841309,
                    "y": -0.04621013626456261,
                    "z": -0.04123919829726219
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050950050354004,
                "transform": {
                    "location": {
                        "x": 651.1284790039062,
                        "y": 4293.87060546875,
                        "z": 369.9517822265625
                    },
                    "rotation": {
                        "roll": -6.103524356149137e-05,
                        "pitch": -0.30267298221588135,
                        "yaw": -0.3464354872703552
                    }
                },
                "velocity": {
                    "x": 8.05069637298584,
                    "y": -0.04864027351140976,
                    "z": -0.04144170507788658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076142311096191,
                "transform": {
                    "location": {
                        "x": 690.4312133789062,
                        "y": 4296.88916015625,
                        "z": 369.7303771972656
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": -0.3258068263530731,
                        "yaw": -0.35430908203125
                    }
                },
                "velocity": {
                    "x": 8.075858116149902,
                    "y": -0.05003495514392853,
                    "z": -0.04569138586521149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03006362915039,
                "transform": {
                    "location": {
                        "x": 691.1218872070312,
                        "y": 4293.6337890625,
                        "z": 369.73297119140625
                    },
                    "rotation": {
                        "roll": -0.00018310538143850863,
                        "pitch": -0.3303898870944977,
                        "yaw": -0.3272094428539276
                    }
                },
                "velocity": {
                    "x": 8.029802322387695,
                    "y": -0.04660781845450401,
                    "z": -0.04498843476176262
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.69313907623291,
                "transform": {
                    "location": {
                        "x": 608.2002563476562,
                        "y": 4294.12158203125,
                        "z": 370.1742858886719
                    },
                    "rotation": {
                        "roll": 0.0006785880541428924,
                        "pitch": 0.04358343407511711,
                        "yaw": -0.29705810546875
                    }
                },
                "velocity": {
                    "x": 6.692963123321533,
                    "y": -0.0371897891163826,
                    "z": -0.031180109828710556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.351798415184021,
                "transform": {
                    "location": {
                        "x": 669.0277709960938,
                        "y": 4287.0625,
                        "z": 369.8548889160156
                    },
                    "rotation": {
                        "roll": 0.000374449766241014,
                        "pitch": 0.32824522256851196,
                        "yaw": 179.8015594482422
                    }
                },
                "velocity": {
                    "x": -1.3517637252807617,
                    "y": 0.0062479013577103615,
                    "z": 0.007403926458209753
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.540178894996643,
                "transform": {
                    "location": {
                        "x": 654.0993041992188,
                        "y": 4287.1474609375,
                        "z": 369.9458923339844
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.2051788717508316,
                        "yaw": 179.38998413085938
                    }
                },
                "velocity": {
                    "x": -1.5401232242584229,
                    "y": 0.010664466768503189,
                    "z": 0.007600545883178711
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.665221929550171,
                "transform": {
                    "location": {
                        "x": 605.1998901367188,
                        "y": 4287.4453125,
                        "z": 370.1806945800781
                    },
                    "rotation": {
                        "roll": 0.0011641934979707003,
                        "pitch": 0.6977720856666565,
                        "yaw": 179.73060607910156
                    }
                },
                "velocity": {
                    "x": -3.6651322841644287,
                    "y": 0.018834833055734634,
                    "z": 0.01737813837826252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.117587089538574,
                "transform": {
                    "location": {
                        "x": 585.3557739257812,
                        "y": 4287.560546875,
                        "z": 370.3106689453125
                    },
                    "rotation": {
                        "roll": 0.0011398702627047896,
                        "pitch": 0.3075360953807831,
                        "yaw": 179.71670532226562
                    }
                },
                "velocity": {
                    "x": -8.11740779876709,
                    "y": 0.04174318164587021,
                    "z": 0.034184444695711136
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.880396842956543,
                "transform": {
                    "location": {
                        "x": 661.248046875,
                        "y": 4290.3564453125,
                        "z": 369.9069519042969
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.23960302770137787,
                        "yaw": 179.63607788085938
                    }
                },
                "velocity": {
                    "x": -8.880090713500977,
                    "y": 0.05643398314714432,
                    "z": 0.04742393270134926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.762516021728516,
                "transform": {
                    "location": {
                        "x": 644.8292236328125,
                        "y": 4290.455078125,
                        "z": 369.99456787109375
                    },
                    "rotation": {
                        "roll": 0.001702096313238144,
                        "pitch": 0.21535585820674896,
                        "yaw": 179.6497039794922
                    }
                },
                "velocity": {
                    "x": -9.762206077575684,
                    "y": 0.0595984049141407,
                    "z": 0.05002015084028244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007341384887695,
                "transform": {
                    "location": {
                        "x": 616.2620849609375,
                        "y": 4290.62255859375,
                        "z": 370.1683044433594
                    },
                    "rotation": {
                        "roll": 0.00042716003372333944,
                        "pitch": 0.27626746892929077,
                        "yaw": 179.6407470703125
                    }
                },
                "velocity": {
                    "x": -8.007099151611328,
                    "y": 0.05020494386553764,
                    "z": 0.03691975399851799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02228832244873,
                "transform": {
                    "location": {
                        "x": 597.8499755859375,
                        "y": 4290.73095703125,
                        "z": 370.2141418457031
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.2662407457828522,
                        "yaw": 179.65133666992188
                    }
                },
                "velocity": {
                    "x": -8.022056579589844,
                    "y": 0.04880876466631889,
                    "z": 0.03667362034320831
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1118081584572792,
        "expert_target_speed": 10.0,
        "target_point": [
            48.566159948658665,
            -4.142588516034013
        ],
        "target_point_next": [
            54.539684735839074,
            -4.705444910419331
        ]
    },
    "310": {
        "acceleration": [
            -1.5547370910644531,
            0.9660243988037109,
            0.013157278299331665
        ],
        "angular_velocity": [
            -0.056600172072649,
            -0.15369060635566711,
            -4.747873783111572
        ],
        "forward_vector": [
            -0.9984220862388611,
            -0.055488914251327515,
            0.008618008345365524
        ],
        "right_vector": [
            0.055426936596632004,
            -0.9984362125396729,
            -0.00727112265303731
        ],
        "location": [
            626.0457153320312,
            4287.69677734375,
            370.0811767578125
        ],
        "rotation": [
            0.4166238009929657,
            0.4937816560268402,
            -176.8189697265625
        ],
        "velocity": [
            -9.140707015991211,
            -0.40641525387763977,
            0.045462071895599365
        ],
        "speed": 9.149737597919154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 21.939367294311523,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                604.1079711914062,
                4287.451171875,
                370.1853942871094
            ],
            "velocity": [
                -4.987557411193848,
                0.02579708956182003,
                0.02356759086251259
            ],
            "speed_kmh": 17.95564730302313,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.457635402679443,
                "transform": {
                    "location": {
                        "x": 609.7936401367188,
                        "y": 4297.36376953125,
                        "z": 370.1580505371094
                    },
                    "rotation": {
                        "roll": 0.0012033223174512386,
                        "pitch": -0.2570131719112396,
                        "yaw": -0.3892822265625
                    }
                },
                "velocity": {
                    "x": 7.457413673400879,
                    "y": -0.04622812196612358,
                    "z": -0.034288156777620316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.058120727539062,
                "transform": {
                    "location": {
                        "x": 650.4613037109375,
                        "y": 4297.1220703125,
                        "z": 369.9648742675781
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": -0.3088679611682892,
                        "yaw": -0.3271484076976776
                    }
                },
                "velocity": {
                    "x": 8.057882308959961,
                    "y": -0.04601196572184563,
                    "z": -0.0415135957300663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084199905395508,
                "transform": {
                    "location": {
                        "x": 653.1455078125,
                        "y": 4293.859375,
                        "z": 369.9410705566406
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.3048108220100403,
                        "yaw": -0.3491515815258026
                    }
                },
                "velocity": {
                    "x": 8.083940505981445,
                    "y": -0.04940900579094887,
                    "z": -0.041838258504867554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0236234664917,
                "transform": {
                    "location": {
                        "x": 692.443359375,
                        "y": 4296.876953125,
                        "z": 369.7189636230469
                    },
                    "rotation": {
                        "roll": 0.0014494608622044325,
                        "pitch": -0.32855257391929626,
                        "yaw": -0.3584289252758026
                    }
                },
                "velocity": {
                    "x": 8.023344039916992,
                    "y": -0.05014161393046379,
                    "z": -0.044436946511268616
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030156135559082,
                "transform": {
                    "location": {
                        "x": 693.1292114257812,
                        "y": 4293.62158203125,
                        "z": 369.7215576171875
                    },
                    "rotation": {
                        "roll": 0.00044736877316609025,
                        "pitch": -0.33172860741615295,
                        "yaw": -0.3613891303539276
                    }
                },
                "velocity": {
                    "x": 8.02988052368164,
                    "y": -0.048654574900865555,
                    "z": -0.045360248535871506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.88626766204834,
                "transform": {
                    "location": {
                        "x": 610.0531616210938,
                        "y": 4294.1103515625,
                        "z": 370.16497802734375
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.12773819267749786,
                        "yaw": -0.2927246391773224
                    }
                },
                "velocity": {
                    "x": 7.886048793792725,
                    "y": -0.0454997755587101,
                    "z": -0.037089452147483826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1627650260925293,
                "transform": {
                    "location": {
                        "x": 668.5771484375,
                        "y": 4287.064453125,
                        "z": 369.8573303222656
                    },
                    "rotation": {
                        "roll": 0.0011193978134542704,
                        "pitch": 0.3323979675769806,
                        "yaw": 179.77207946777344
                    }
                },
                "velocity": {
                    "x": -2.162698268890381,
                    "y": 0.012538277544081211,
                    "z": 0.011447515338659286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1497910022735596,
                "transform": {
                    "location": {
                        "x": 653.578125,
                        "y": 4287.15185546875,
                        "z": 369.94561767578125
                    },
                    "rotation": {
                        "roll": -0.004760743118822575,
                        "pitch": 0.5707032680511475,
                        "yaw": 179.46444702148438
                    }
                },
                "velocity": {
                    "x": -2.1497151851654053,
                    "y": 0.014259024523198605,
                    "z": 0.011065606959164143
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.987679958343506,
                "transform": {
                    "location": {
                        "x": 604.1079711914062,
                        "y": 4287.451171875,
                        "z": 370.1853942871094
                    },
                    "rotation": {
                        "roll": 0.0009423783631063998,
                        "pitch": 0.8295605778694153,
                        "yaw": 179.71847534179688
                    }
                },
                "velocity": {
                    "x": -4.987557411193848,
                    "y": 0.02579708956182003,
                    "z": 0.02356759086251259
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.172941207885742,
                "transform": {
                    "location": {
                        "x": 583.2855834960938,
                        "y": 4287.57177734375,
                        "z": 370.31976318359375
                    },
                    "rotation": {
                        "roll": 0.001390379387885332,
                        "pitch": 0.2670876979827881,
                        "yaw": 179.69778442382812
                    }
                },
                "velocity": {
                    "x": -8.172747611999512,
                    "y": 0.04308551177382469,
                    "z": 0.036244429647922516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.6925048828125,
                "transform": {
                    "location": {
                        "x": 658.9234008789062,
                        "y": 4290.37109375,
                        "z": 369.9195251464844
                    },
                    "rotation": {
                        "roll": -0.00018310554150957614,
                        "pitch": 0.22203578054904938,
                        "yaw": 179.6365203857422
                    }
                },
                "velocity": {
                    "x": -9.692167282104492,
                    "y": 0.06147749349474907,
                    "z": 0.052628278732299805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.652615547180176,
                "transform": {
                    "location": {
                        "x": 642.27197265625,
                        "y": 4290.470703125,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.002225659554824233,
                        "pitch": 0.21108698844909668,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -10.652278900146484,
                    "y": 0.06500543653964996,
                    "z": 0.054247062653303146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043865203857422,
                "transform": {
                    "location": {
                        "x": 614.2555541992188,
                        "y": 4290.63427734375,
                        "z": 370.17791748046875
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.27719637751579285,
                        "yaw": 179.64700317382812
                    }
                },
                "velocity": {
                    "x": -8.043628692626953,
                    "y": 0.04942680150270462,
                    "z": 0.037029724568128586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990569114685059,
                "transform": {
                    "location": {
                        "x": 595.8482666015625,
                        "y": 4290.7431640625,
                        "z": 370.2233581542969
                    },
                    "rotation": {
                        "roll": 0.000882943975739181,
                        "pitch": 0.2604624330997467,
                        "yaw": 179.6497039794922
                    }
                },
                "velocity": {
                    "x": -7.990334987640381,
                    "y": 0.048911016434431076,
                    "z": 0.03679263964295387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08697260916233063,
        "expert_target_speed": 10.0,
        "target_point": [
            46.43541453273383,
            -2.5753481005663468
        ],
        "target_point_next": [
            52.424069796713894,
            -2.943877384291521
        ]
    },
    "315": {
        "acceleration": [
            -1.3092041015625,
            0.9715491533279419,
            -0.001458972692489624
        ],
        "angular_velocity": [
            -0.07346855103969574,
            -0.10302890092134476,
            -8.399045944213867
        ],
        "forward_vector": [
            -0.999618649482727,
            -0.02640107460319996,
            0.008096725679934025
        ],
        "right_vector": [
            0.026345407590270042,
            -0.9996290802955627,
            -0.0069066379219293594
        ],
        "location": [
            623.7144165039062,
            4287.6201171875,
            370.0928955078125
        ],
        "rotation": [
            0.39573732018470764,
            0.4639132618904114,
            -178.4871063232422
        ],
        "velocity": [
            -9.490595817565918,
            -0.167378768324852,
            0.04551665112376213
        ],
        "speed": 9.492071671899957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 20.93562126159668,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                602.7796630859375,
                4287.45751953125,
                370.19268798828125
            ],
            "velocity": [
                -5.374355316162109,
                0.027971426025032997,
                0.02580883912742138
            ],
            "speed_kmh": 19.34816426830446,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.479048728942871,
                "transform": {
                    "location": {
                        "x": 611.7536010742188,
                        "y": 4297.3515625,
                        "z": 370.1486511230469
                    },
                    "rotation": {
                        "roll": 0.0005459885578602552,
                        "pitch": -0.24529939889907837,
                        "yaw": -0.3670348823070526
                    }
                },
                "velocity": {
                    "x": 8.478787422180176,
                    "y": -0.05269183591008186,
                    "z": -0.0407022088766098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09749984741211,
                "transform": {
                    "location": {
                        "x": 652.4812622070312,
                        "y": 4297.1103515625,
                        "z": 369.9541015625
                    },
                    "rotation": {
                        "roll": 0.0007699420093558729,
                        "pitch": -0.30352675914764404,
                        "yaw": -0.3271484076976776
                    }
                },
                "velocity": {
                    "x": 8.097258567810059,
                    "y": -0.04616083204746246,
                    "z": -0.04212420806288719
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051481246948242,
                "transform": {
                    "location": {
                        "x": 655.1622924804688,
                        "y": 4293.84716796875,
                        "z": 369.9303283691406
                    },
                    "rotation": {
                        "roll": -0.0009155276347883046,
                        "pitch": -0.30649104714393616,
                        "yaw": -0.352874755859375
                    }
                },
                "velocity": {
                    "x": 8.051216125488281,
                    "y": -0.04957848787307739,
                    "z": -0.042606718838214874
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 694.4694213867188,
                        "y": 4296.845703125,
                        "z": 369.70947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 695.1506958007812,
                        "y": 4293.5810546875,
                        "z": 369.7112731933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.539041519165039,
                "transform": {
                    "location": {
                        "x": 612.1761474609375,
                        "y": 4294.09814453125,
                        "z": 370.15667724609375
                    },
                    "rotation": {
                        "roll": -0.0032043452374637127,
                        "pitch": -0.093109130859375,
                        "yaw": -0.23788456618785858
                    }
                },
                "velocity": {
                    "x": 8.53880786895752,
                    "y": -0.04804851487278938,
                    "z": -0.04098721593618393
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7827322483062744,
                "transform": {
                    "location": {
                        "x": 668.099365234375,
                        "y": 4287.06689453125,
                        "z": 369.8600769042969
                    },
                    "rotation": {
                        "roll": 0.0009396239183843136,
                        "pitch": 0.31037744879722595,
                        "yaw": 179.74624633789062
                    }
                },
                "velocity": {
                    "x": -1.78267502784729,
                    "y": 0.010620993562042713,
                    "z": 0.00954656582325697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7816822528839111,
                "transform": {
                    "location": {
                        "x": 653.443359375,
                        "y": 4287.15234375,
                        "z": 369.9508972167969
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.010757547803223133,
                        "yaw": 179.43798828125
                    }
                },
                "velocity": {
                    "x": -0.7816634178161621,
                    "y": 0.0036548285279423,
                    "z": 0.004013156984001398
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.374490261077881,
                "transform": {
                    "location": {
                        "x": 602.7796630859375,
                        "y": 4287.45751953125,
                        "z": 370.19268798828125
                    },
                    "rotation": {
                        "roll": 0.000930577574763447,
                        "pitch": 0.6204202175140381,
                        "yaw": 179.71290588378906
                    }
                },
                "velocity": {
                    "x": -5.374355316162109,
                    "y": 0.027971426025032997,
                    "z": 0.02580883912742138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.80344820022583,
                "transform": {
                    "location": {
                        "x": 581.3062744140625,
                        "y": 4287.58154296875,
                        "z": 370.3285827636719
                    },
                    "rotation": {
                        "roll": 0.0018709973664954305,
                        "pitch": 0.2197818160057068,
                        "yaw": 179.69512939453125
                    }
                },
                "velocity": {
                    "x": -7.803260803222656,
                    "y": 0.042835354804992676,
                    "z": 0.03300189971923828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.586080551147461,
                "transform": {
                    "location": {
                        "x": 656.3831176757812,
                        "y": 4290.38671875,
                        "z": 369.9331970214844
                    },
                    "rotation": {
                        "roll": 8.619340223958716e-05,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -10.585721969604492,
                    "y": 0.06623382121324539,
                    "z": 0.05654856562614441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.44883918762207,
                "transform": {
                    "location": {
                        "x": 639.5052490234375,
                        "y": 4290.4873046875,
                        "z": 370.0223083496094
                    },
                    "rotation": {
                        "roll": 0.0009990768739953637,
                        "pitch": 0.2133272886276245,
                        "yaw": 179.65489196777344
                    }
                },
                "velocity": {
                    "x": -11.448478698730469,
                    "y": 0.0690196305513382,
                    "z": 0.059076230973005295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007330894470215,
                "transform": {
                    "location": {
                        "x": 612.2493896484375,
                        "y": 4290.64599609375,
                        "z": 370.18756103515625
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": 0.27617186307907104,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -8.007089614868164,
                    "y": 0.049716103821992874,
                    "z": 0.037227876484394073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0226411819458,
                "transform": {
                    "location": {
                        "x": 593.84619140625,
                        "y": 4290.75439453125,
                        "z": 370.2324523925781
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.2597452402114868,
                        "yaw": 179.64796447753906
                    }
                },
                "velocity": {
                    "x": -8.02239990234375,
                    "y": 0.04999721795320511,
                    "z": 0.03696981444954872
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08530532568693161,
        "expert_target_speed": 10.0,
        "target_point": [
            44.15819426969732,
            -1.2375974119141058
        ],
        "target_point_next": [
            50.155039539693554,
            -1.4316399626160932
        ]
    },
    "320": {
        "acceleration": [
            -1.1296272277832031,
            0.76894611120224,
            -0.01601487398147583
        ],
        "angular_velocity": [
            -0.2588646113872528,
            -0.11161094903945923,
            -3.014632225036621
        ],
        "forward_vector": [
            -0.9999693036079407,
            -0.0015219311462715268,
            0.007688445970416069
        ],
        "right_vector": [
            0.0014740676851943135,
            -0.999979555606842,
            -0.006227224599570036
        ],
        "location": [
            621.3021240234375,
            4287.6015625,
            370.10479736328125
        ],
        "rotation": [
            0.35680651664733887,
            0.44051986932754517,
            -179.9127960205078
        ],
        "velocity": [
            -9.791956901550293,
            0.0502418614923954,
            0.048605240881443024
        ],
        "speed": 9.79208579448039,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 20.05842399597168,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                601.244384765625,
                4287.46533203125,
                370.19921875
            ],
            "velocity": [
                -6.907108783721924,
                0.034979578107595444,
                0.030468616634607315
            ],
            "speed_kmh": 24.866152404487107,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 573.5765380859375,
                        "y": 4294.22705078125,
                        "z": 370.71197509765625
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.440922737121582,
                "transform": {
                    "location": {
                        "x": 613.9132080078125,
                        "y": 4297.337890625,
                        "z": 370.1385498046875
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.2677024304866791,
                        "yaw": -0.3197936415672302
                    }
                },
                "velocity": {
                    "x": 8.440672874450684,
                    "y": -0.050663068890571594,
                    "z": -0.040745895355939865
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062958717346191,
                "transform": {
                    "location": {
                        "x": 654.5011596679688,
                        "y": 4297.0986328125,
                        "z": 369.9433898925781
                    },
                    "rotation": {
                        "roll": 0.00035059606307186186,
                        "pitch": -0.30795273184776306,
                        "yaw": -0.327117919921875
                    }
                },
                "velocity": {
                    "x": 8.062713623046875,
                    "y": -0.04602866619825363,
                    "z": -0.042657043784856796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084370613098145,
                "transform": {
                    "location": {
                        "x": 657.1795043945312,
                        "y": 4293.8349609375,
                        "z": 369.9195861816406
                    },
                    "rotation": {
                        "roll": 0.0002411448658676818,
                        "pitch": -0.30581486225128174,
                        "yaw": -0.3595885634422302
                    }
                },
                "velocity": {
                    "x": 8.084091186523438,
                    "y": -0.05081707239151001,
                    "z": -0.04409337043762207
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 696.550048828125,
                        "y": 4296.75439453125,
                        "z": 369.7061767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.328702837228775,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 697.2313842773438,
                        "y": 4293.5087890625,
                        "z": 369.7019958496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3315100371837616,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084059715270996,
                "transform": {
                    "location": {
                        "x": 614.2459106445312,
                        "y": 4294.0869140625,
                        "z": 370.1493225097656
                    },
                    "rotation": {
                        "roll": 2.113925620506052e-05,
                        "pitch": -0.410835862159729,
                        "yaw": -0.2701720595359802
                    }
                },
                "velocity": {
                    "x": 8.083831787109375,
                    "y": -0.04508943483233452,
                    "z": -0.04073558375239372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.350928544998169,
                "transform": {
                    "location": {
                        "x": 667.576416015625,
                        "y": 4287.0703125,
                        "z": 369.86285400390625
                    },
                    "rotation": {
                        "roll": 0.00012450544454623014,
                        "pitch": 0.32211169600486755,
                        "yaw": 179.72386169433594
                    }
                },
                "velocity": {
                    "x": -2.3508551120758057,
                    "y": 0.013970495201647282,
                    "z": 0.012261971831321716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4873341917991638,
                "transform": {
                    "location": {
                        "x": 653.171142578125,
                        "y": 4287.15576171875,
                        "z": 369.94927978515625
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": 0.38964179158210754,
                        "yaw": 179.56983947753906
                    }
                },
                "velocity": {
                    "x": -0.4872570335865021,
                    "y": 0.008561793714761734,
                    "z": 0.0013772010570392013
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.907264709472656,
                "transform": {
                    "location": {
                        "x": 601.244384765625,
                        "y": 4287.46533203125,
                        "z": 370.19921875
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.8003478646278381,
                        "yaw": 179.7110595703125
                    }
                },
                "velocity": {
                    "x": -6.907108783721924,
                    "y": 0.034979578107595444,
                    "z": 0.030468616634607315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.174954414367676,
                "transform": {
                    "location": {
                        "x": 579.3063354492188,
                        "y": 4287.59326171875,
                        "z": 370.3366394042969
                    },
                    "rotation": {
                        "roll": 0.0009882122976705432,
                        "pitch": 0.2592739760875702,
                        "yaw": 179.67820739746094
                    }
                },
                "velocity": {
                    "x": -8.174745559692383,
                    "y": 0.048239920288324356,
                    "z": 0.0331018902361393
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.382558822631836,
                "transform": {
                    "location": {
                        "x": 653.6328125,
                        "y": 4290.404296875,
                        "z": 369.9478759765625
                    },
                    "rotation": {
                        "roll": 0.0014334380393847823,
                        "pitch": 0.21931736171245575,
                        "yaw": 179.64944458007812
                    }
                },
                "velocity": {
                    "x": -11.382200241088867,
                    "y": 0.06652697175741196,
                    "z": 0.060959577560424805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.265667915344238,
                "transform": {
                    "location": {
                        "x": 636.535888671875,
                        "y": 4290.5048828125,
                        "z": 370.0376892089844
                    },
                    "rotation": {
                        "roll": 0.0009412859217263758,
                        "pitch": 0.21117578446865082,
                        "yaw": 179.6598358154297
                    }
                },
                "velocity": {
                    "x": -12.265298843383789,
                    "y": 0.07268496602773666,
                    "z": 0.061346881091594696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044193267822266,
                "transform": {
                    "location": {
                        "x": 610.2428588867188,
                        "y": 4290.658203125,
                        "z": 370.1971435546875
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.2740476727485657,
                        "yaw": 179.6444549560547
                    }
                },
                "velocity": {
                    "x": -8.043950080871582,
                    "y": 0.04984598979353905,
                    "z": 0.037641189992427826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991084575653076,
                "transform": {
                    "location": {
                        "x": 591.8444213867188,
                        "y": 4290.76611328125,
                        "z": 370.2414245605469
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.25669899582862854,
                        "yaw": 179.64047241210938
                    }
                },
                "velocity": {
                    "x": -7.990845203399658,
                    "y": 0.050167616456747055,
                    "z": 0.03615455701947212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10849574953317642,
        "expert_target_speed": 10.0,
        "target_point": [
            41.762998468071736,
            -0.1534103664067355
        ],
        "target_point_next": [
            47.762815194085334,
            -0.19818712384435577
        ]
    },
    "325": {
        "acceleration": [
            -0.572052001953125,
            0.3990262746810913,
            -0.005526542663574219
        ],
        "angular_velocity": [
            -0.4034784734249115,
            -0.21929949522018433,
            -4.438821792602539
        ],
        "forward_vector": [
            -0.9998708963394165,
            0.01443505845963955,
            0.007060945499688387
        ],
        "right_vector": [
            -0.014465904794633389,
            -0.9998859763145447,
            -0.00433732196688652
        ],
        "location": [
            618.8228149414062,
            4287.62744140625,
            370.1169738769531
        ],
        "rotation": [
            0.2485172003507614,
            0.4045657515525818,
            179.17288208007812
        ],
        "velocity": [
            -10.009389877319336,
            0.1696057915687561,
            0.04880625754594803
        ],
        "speed": 10.010826731130473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 19.48188018798828,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                599.3417358398438,
                4287.47607421875,
                370.2078552246094
            ],
            "velocity": [
                -8.064352035522461,
                0.04485645145177841,
                0.036910686641931534
            ],
            "speed_kmh": 29.03242052184199,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 573.5957641601562,
                        "y": 4297.47705078125,
                        "z": 370.40814208984375
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4203535318374634,
                "transform": {
                    "location": {
                        "x": 573.5762939453125,
                        "y": 4294.22705078125,
                        "z": 370.3139343261719
                    },
                    "rotation": {
                        "roll": 0.0006233349558897316,
                        "pitch": -0.230006605386734,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.0056923688389360905,
                    "y": 0.00016306800534948707,
                    "z": -1.420342206954956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.09443473815918,
                "transform": {
                    "location": {
                        "x": 615.9736328125,
                        "y": 4297.326171875,
                        "z": 370.1287841796875
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.28698405623435974,
                        "yaw": -0.3233947455883026
                    }
                },
                "velocity": {
                    "x": 8.094196319580078,
                    "y": -0.047086555510759354,
                    "z": -0.04036443680524826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09109878540039,
                "transform": {
                    "location": {
                        "x": 656.5202026367188,
                        "y": 4297.0869140625,
                        "z": 369.9326477050781
                    },
                    "rotation": {
                        "roll": 0.00034868493094109,
                        "pitch": -0.30884063243865967,
                        "yaw": -0.3273009955883026
                    }
                },
                "velocity": {
                    "x": 8.09084701538086,
                    "y": -0.04620419442653656,
                    "z": -0.04403510317206383
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052075386047363,
                "transform": {
                    "location": {
                        "x": 659.1964111328125,
                        "y": 4293.82275390625,
                        "z": 369.90875244140625
                    },
                    "rotation": {
                        "roll": 0.0011858765501528978,
                        "pitch": -0.3085606098175049,
                        "yaw": -0.3585204482078552
                    }
                },
                "velocity": {
                    "x": 8.051798820495605,
                    "y": -0.050253890454769135,
                    "z": -0.043953679502010345
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56520,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 698.6329345703125,
                        "y": 4296.73974609375,
                        "z": 369.69439697265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3315100371837616,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 56519,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 699.3142700195312,
                        "y": 4293.4892578125,
                        "z": 369.6903381347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3315100371837616,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.924857139587402,
                "transform": {
                    "location": {
                        "x": 616.2361450195312,
                        "y": 4294.07568359375,
                        "z": 370.13916015625
                    },
                    "rotation": {
                        "roll": 0.0011719936737790704,
                        "pitch": -0.36163800954818726,
                        "yaw": -0.3413085639476776
                    }
                },
                "velocity": {
                    "x": 7.924622535705566,
                    "y": -0.04712994769215584,
                    "z": -0.03870195150375366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9637105464935303,
                "transform": {
                    "location": {
                        "x": 666.9163208007812,
                        "y": 4287.07373046875,
                        "z": 369.8664245605469
                    },
                    "rotation": {
                        "roll": 0.00013364345068112016,
                        "pitch": 0.32735729217529297,
                        "yaw": 179.70420837402344
                    }
                },
                "velocity": {
                    "x": -2.9636199474334717,
                    "y": 0.017543300986289978,
                    "z": 0.015143985860049725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001671861158683896,
                "transform": {
                    "location": {
                        "x": 653.1703491210938,
                        "y": 4287.15576171875,
                        "z": 369.95123291015625
                    },
                    "rotation": {
                        "roll": -0.0032958982046693563,
                        "pitch": 0.14576305449008942,
                        "yaw": 179.60897827148438
                    }
                },
                "velocity": {
                    "x": 0.0008867346914485097,
                    "y": -0.00012804217112716287,
                    "z": -0.001411533448845148
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.06456184387207,
                "transform": {
                    "location": {
                        "x": 599.3417358398438,
                        "y": 4287.47607421875,
                        "z": 370.2078552246094
                    },
                    "rotation": {
                        "roll": 0.003484256099909544,
                        "pitch": 0.8373333215713501,
                        "yaw": 179.69415283203125
                    }
                },
                "velocity": {
                    "x": -8.064352035522461,
                    "y": 0.04485645145177841,
                    "z": 0.036910686641931534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9873270988464355,
                "transform": {
                    "location": {
                        "x": 577.2792358398438,
                        "y": 4287.60498046875,
                        "z": 370.34521484375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.2321239709854126,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -7.987130165100098,
                    "y": 0.04543083533644676,
                    "z": 0.03299270570278168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.059248924255371,
                "transform": {
                    "location": {
                        "x": 650.6876831054688,
                        "y": 4290.421875,
                        "z": 369.96337890625
                    },
                    "rotation": {
                        "roll": 0.0012489125365391374,
                        "pitch": 0.23114724457263947,
                        "yaw": 179.6586151123047
                    }
                },
                "velocity": {
                    "x": -12.058860778808594,
                    "y": 0.0719008818268776,
                    "z": 0.064732126891613
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.0394287109375,
                "transform": {
                    "location": {
                        "x": 633.4404907226562,
                        "y": 4290.52294921875,
                        "z": 370.052734375
                    },
                    "rotation": {
                        "roll": 0.00023327542294282466,
                        "pitch": 0.29032400250434875,
                        "yaw": 179.6659393310547
                    }
                },
                "velocity": {
                    "x": -12.0390625,
                    "y": 0.07023806124925613,
                    "z": 0.06239377707242966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008000373840332,
                "transform": {
                    "location": {
                        "x": 608.2366943359375,
                        "y": 4290.669921875,
                        "z": 370.2066345214844
                    },
                    "rotation": {
                        "roll": 0.00027755519840866327,
                        "pitch": 0.2720600664615631,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.007763862609863,
                    "y": 0.049712710082530975,
                    "z": 0.036215342581272125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022502899169922,
                "transform": {
                    "location": {
                        "x": 589.8423461914062,
                        "y": 4290.77783203125,
                        "z": 370.2503967285156
                    },
                    "rotation": {
                        "roll": 0.0004887895775027573,
                        "pitch": 0.2521500885486603,
                        "yaw": 179.63763427734375
                    }
                },
                "velocity": {
                    "x": -8.022262573242188,
                    "y": 0.050509966909885406,
                    "z": 0.03626028820872307
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32746952772140503,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13999709486961365,
        "expert_target_speed": 10.0,
        "target_point": [
            39.280704727551026,
            0.5031145601680131
        ],
        "target_point_next": [
            45.280472045534495,
            0.5540835097024375
        ]
    },
    "330": {
        "acceleration": [
            0.5391693115234375,
            0.32008588314056396,
            -0.011177435517311096
        ],
        "angular_velocity": [
            -0.1917181760072708,
            -0.40471866726875305,
            0.03808470442891121
        ],
        "forward_vector": [
            -0.999704897403717,
            0.023608161136507988,
            0.005730597302317619
        ],
        "right_vector": [
            -0.02362639829516411,
            -0.9997159838676453,
            -0.0031358106061816216
        ],
        "location": [
            616.3177490234375,
            4287.6796875,
            370.12933349609375
        ],
        "rotation": [
            0.17967195808887482,
            0.3283408284187317,
            178.64720153808594
        ],
        "velocity": [
            -9.989066123962402,
            0.2625123858451843,
            0.04863913357257843
        ],
        "speed": 9.992514937772942,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 19.093399047851562,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                597.2255249023438,
                4287.4873046875,
                370.21807861328125
            ],
            "velocity": [
                -8.699219703674316,
                0.04959902539849281,
                0.04049859941005707
            ],
            "speed_kmh": 31.31803931504341,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23459483683109283,
                "transform": {
                    "location": {
                        "x": 573.5952758789062,
                        "y": 4297.47705078125,
                        "z": 370.2633361816406
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -0.23017053306102753,
                        "yaw": -0.3386840224266052
                    }
                },
                "velocity": {
                    "x": 0.000947438005823642,
                    "y": 2.7917187253478914e-05,
                    "z": 0.23459291458129883
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2529109716415405,
                "transform": {
                    "location": {
                        "x": 573.5760498046875,
                        "y": 4294.22705078125,
                        "z": 370.2784423828125
                    },
                    "rotation": {
                        "roll": -6.103519262978807e-05,
                        "pitch": -0.22952166199684143,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0010209035826846957,
                    "y": 8.195332338800654e-05,
                    "z": 0.2529088854789734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.125597953796387,
                "transform": {
                    "location": {
                        "x": 617.9295654296875,
                        "y": 4297.314453125,
                        "z": 370.1194763183594
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.3036496937274933,
                        "yaw": -0.3154601752758026
                    }
                },
                "velocity": {
                    "x": 7.125394821166992,
                    "y": -0.04151397570967674,
                    "z": -0.03424033150076866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0639009475708,
                "transform": {
                    "location": {
                        "x": 658.5394897460938,
                        "y": 4297.0751953125,
                        "z": 369.9217834472656
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": -0.30983784794807434,
                        "yaw": -0.3271789252758026
                    }
                },
                "velocity": {
                    "x": 8.063644409179688,
                    "y": -0.04608229547739029,
                    "z": -0.04487413913011551
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083786964416504,
                "transform": {
                    "location": {
                        "x": 661.2134399414062,
                        "y": 4293.81103515625,
                        "z": 369.89788818359375
                    },
                    "rotation": {
                        "roll": 0.0011401957599446177,
                        "pitch": -0.30884063243865967,
                        "yaw": -0.3553466200828552
                    }
                },
                "velocity": {
                    "x": 8.083503723144531,
                    "y": -0.05014139413833618,
                    "z": -0.0453876294195652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.131387710571289,
                "transform": {
                    "location": {
                        "x": 618.2449951171875,
                        "y": 4294.06396484375,
                        "z": 370.1283874511719
                    },
                    "rotation": {
                        "roll": 0.0002664778439793736,
                        "pitch": -0.22558064758777618,
                        "yaw": -0.3305358588695526
                    }
                },
                "velocity": {
                    "x": 8.13116455078125,
                    "y": -0.04745637625455856,
                    "z": -0.037195730954408646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6794097423553467,
                "transform": {
                    "location": {
                        "x": 666.0838623046875,
                        "y": 4287.07861328125,
                        "z": 369.8709411621094
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.3299117684364319,
                        "yaw": 179.6857452392578
                    }
                },
                "velocity": {
                    "x": -3.679292917251587,
                    "y": 0.02205641008913517,
                    "z": 0.019333619624376297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002001723973080516,
                "transform": {
                    "location": {
                        "x": 653.1688232421875,
                        "y": 4287.15576171875,
                        "z": 369.9500427246094
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": 0.2961638271808624,
                        "yaw": 179.60897827148438
                    }
                },
                "velocity": {
                    "x": 0.0008655486744828522,
                    "y": -6.451070657931268e-05,
                    "z": -0.0018037633271887898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.699455261230469,
                "transform": {
                    "location": {
                        "x": 597.2255249023438,
                        "y": 4287.4873046875,
                        "z": 370.21807861328125
                    },
                    "rotation": {
                        "roll": 0.0020405214745551348,
                        "pitch": 0.6955112814903259,
                        "yaw": 179.68191528320312
                    }
                },
                "velocity": {
                    "x": -8.699219703674316,
                    "y": 0.04959902539849281,
                    "z": 0.04049859941005707
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99542236328125,
                "transform": {
                    "location": {
                        "x": 575.29052734375,
                        "y": 4287.61669921875,
                        "z": 370.3533630371094
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": 0.22957630455493927,
                        "yaw": 179.67068481445312
                    }
                },
                "velocity": {
                    "x": -7.995222091674805,
                    "y": 0.04587915167212486,
                    "z": 0.033059537410736084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.123016357421875,
                "transform": {
                    "location": {
                        "x": 647.7548828125,
                        "y": 4290.439453125,
                        "z": 369.9779357910156
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": 0.3627240061759949,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -11.122660636901855,
                    "y": 0.06632379442453384,
                    "z": 0.05924823507666588
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.569735527038574,
                "transform": {
                    "location": {
                        "x": 630.6238403320312,
                        "y": 4290.5390625,
                        "z": 370.0660705566406
                    },
                    "rotation": {
                        "roll": 2.4857017706381157e-05,
                        "pitch": 0.41686689853668213,
                        "yaw": 179.6632537841797
                    }
                },
                "velocity": {
                    "x": -10.569401741027832,
                    "y": 0.06407811492681503,
                    "z": 0.05426204577088356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043845176696777,
                "transform": {
                    "location": {
                        "x": 606.2301635742188,
                        "y": 4290.681640625,
                        "z": 370.21612548828125
                    },
                    "rotation": {
                        "roll": 0.0011489049065858126,
                        "pitch": 0.27293434739112854,
                        "yaw": 179.64108276367188
                    }
                },
                "velocity": {
                    "x": -8.043601036071777,
                    "y": 0.05039266496896744,
                    "z": 0.03731184080243111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.99086332321167,
                "transform": {
                    "location": {
                        "x": 587.8406372070312,
                        "y": 4290.7900390625,
                        "z": 370.2591857910156
                    },
                    "rotation": {
                        "roll": 0.0005182036547921598,
                        "pitch": 0.25202712416648865,
                        "yaw": 179.63710021972656
                    }
                },
                "velocity": {
                    "x": -7.9906229972839355,
                    "y": 0.05067242681980133,
                    "z": 0.03561465069651604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32706162333488464,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17688943445682526,
        "expert_target_speed": 9.756914585308985,
        "target_point": [
            36.76883438287369,
            0.8565728396383887
        ],
        "target_point_next": [
            42.76788155568006,
            0.9625856794411606
        ]
    },
    "335": {
        "acceleration": [
            1.2752151489257812,
            0.0022798776626586914,
            -0.014914348721504211
        ],
        "angular_velocity": [
            -0.4120662808418274,
            -0.3361436724662781,
            -3.0424952507019043
        ],
        "forward_vector": [
            -0.9995031952857971,
            0.03126077726483345,
            0.0040132892318069935
        ],
        "right_vector": [
            -0.031269095838069916,
            -0.9995089769363403,
            -0.00202667317353189
        ],
        "location": [
            613.8515625,
            4287.7509765625,
            370.1415100097656
        ],
        "rotation": [
            0.1161208376288414,
            0.2299451380968094,
            178.20858764648438
        ],
        "velocity": [
            -9.729574203491211,
            0.3094651699066162,
            0.04800594225525856
        ],
        "speed": 9.734494484698574,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.719179153442383,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                595.13427734375,
                4287.49951171875,
                370.2292785644531
            ],
            "velocity": [
                -8.161431312561035,
                0.046176329255104065,
                0.03702160716056824
            ],
            "speed_kmh": 29.381925267666144,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0960095152258873,
                "transform": {
                    "location": {
                        "x": 573.5952758789062,
                        "y": 4297.47705078125,
                        "z": 370.3117980957031
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.22982218861579895,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.0003901592281181365,
                    "y": 5.4566840844927356e-05,
                    "z": 0.09600871056318283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06169985979795456,
                "transform": {
                    "location": {
                        "x": 573.5760498046875,
                        "y": 4294.22705078125,
                        "z": 370.3175354003906
                    },
                    "rotation": {
                        "roll": 0.0001844157523009926,
                        "pitch": -0.22961045801639557,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.000256431958405301,
                    "y": 1.6846779544721358e-05,
                    "z": 0.06169932335615158
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.778021335601807,
                "transform": {
                    "location": {
                        "x": 619.6315307617188,
                        "y": 4297.3056640625,
                        "z": 370.1112060546875
                    },
                    "rotation": {
                        "roll": 0.0007247590692713857,
                        "pitch": -0.29772794246673584,
                        "yaw": -0.4065245985984802
                    }
                },
                "velocity": {
                    "x": 6.7778143882751465,
                    "y": -0.04113471508026123,
                    "z": -0.033340200781822205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092869758605957,
                "transform": {
                    "location": {
                        "x": 660.5591430664062,
                        "y": 4297.0634765625,
                        "z": 369.910888671875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.31164786219596863,
                        "yaw": -0.329620361328125
                    }
                },
                "velocity": {
                    "x": 8.092612266540527,
                    "y": -0.04658152908086777,
                    "z": -0.04469903185963631
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051944732666016,
                "transform": {
                    "location": {
                        "x": 663.2301635742188,
                        "y": 4293.79931640625,
                        "z": 369.8869934082031
                    },
                    "rotation": {
                        "roll": 0.00031801487784832716,
                        "pitch": -0.3095373213291168,
                        "yaw": -0.35162353515625
                    }
                },
                "velocity": {
                    "x": 8.051669120788574,
                    "y": -0.04942905157804489,
                    "z": -0.044582050293684006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.124000549316406,
                "transform": {
                    "location": {
                        "x": 620.2819213867188,
                        "y": 4294.05224609375,
                        "z": 370.118896484375
                    },
                    "rotation": {
                        "roll": 0.00024931487860158086,
                        "pitch": -0.2561320662498474,
                        "yaw": -0.3591613471508026
                    }
                },
                "velocity": {
                    "x": 8.123761177062988,
                    "y": -0.04913055896759033,
                    "z": -0.038354191929101944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.342667102813721,
                "transform": {
                    "location": {
                        "x": 665.0716552734375,
                        "y": 4287.08447265625,
                        "z": 369.87652587890625
                    },
                    "rotation": {
                        "roll": 0.0007993633626028895,
                        "pitch": 0.3284023106098175,
                        "yaw": 179.67486572265625
                    }
                },
                "velocity": {
                    "x": -4.342536449432373,
                    "y": 0.0256308913230896,
                    "z": 0.021886376664042473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018035901302937418,
                "transform": {
                    "location": {
                        "x": 653.1685180664062,
                        "y": 4287.15576171875,
                        "z": 369.94970703125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.3291877806186676,
                        "yaw": 179.6090087890625
                    }
                },
                "velocity": {
                    "x": -8.139938290696591e-05,
                    "y": 0.00013793917605653405,
                    "z": 8.292344136862084e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.161645889282227,
                "transform": {
                    "location": {
                        "x": 595.13427734375,
                        "y": 4287.49951171875,
                        "z": 370.2292785644531
                    },
                    "rotation": {
                        "roll": 0.0016005635261535645,
                        "pitch": 0.2690548002719879,
                        "yaw": 179.67530822753906
                    }
                },
                "velocity": {
                    "x": -8.161431312561035,
                    "y": 0.046176329255104065,
                    "z": 0.03702160716056824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.063752174377441,
                "transform": {
                    "location": {
                        "x": 573.2778930664062,
                        "y": 4287.62841796875,
                        "z": 370.36138916015625
                    },
                    "rotation": {
                        "roll": 0.0009000448626466095,
                        "pitch": 0.23818917572498322,
                        "yaw": 179.66702270507812
                    }
                },
                "velocity": {
                    "x": -8.06355094909668,
                    "y": 0.04680638387799263,
                    "z": 0.032493963837623596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.934019088745117,
                "transform": {
                    "location": {
                        "x": 645.1460571289062,
                        "y": 4290.455078125,
                        "z": 369.9912414550781
                    },
                    "rotation": {
                        "roll": 0.0005165059701539576,
                        "pitch": 0.4126731753349304,
                        "yaw": 179.65797424316406
                    }
                },
                "velocity": {
                    "x": -9.933704376220703,
                    "y": 0.059256765991449356,
                    "z": 0.05233863741159439
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.459169387817383,
                "transform": {
                    "location": {
                        "x": 628.0294189453125,
                        "y": 4290.5546875,
                        "z": 370.0799560546875
                    },
                    "rotation": {
                        "roll": 8.013212936930358e-05,
                        "pitch": 0.31627190113067627,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -10.458852767944336,
                    "y": 0.06191221624612808,
                    "z": 0.05276301130652428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00715446472168,
                "transform": {
                    "location": {
                        "x": 604.2240600585938,
                        "y": 4290.693359375,
                        "z": 370.2255859375
                    },
                    "rotation": {
                        "roll": 5.9868685639230534e-05,
                        "pitch": 0.27234694361686707,
                        "yaw": 179.6408233642578
                    }
                },
                "velocity": {
                    "x": -8.006911277770996,
                    "y": 0.05017204210162163,
                    "z": 0.03706628829240799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022963523864746,
                "transform": {
                    "location": {
                        "x": 585.8385620117188,
                        "y": 4290.80224609375,
                        "z": 370.26788330078125
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.24768313765525818,
                        "yaw": 179.63937377929688
                    }
                },
                "velocity": {
                    "x": -8.022737503051758,
                    "y": 0.05029257759451866,
                    "z": 0.033012550324201584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3212394416332245,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23878012597560883,
        "expert_target_speed": 9.571058331440483,
        "target_point": [
            34.29399015669557,
            1.132175381597221
        ],
        "target_point_next": [
            40.292050019001294,
            1.2841082350433706
        ]
    },
    "340": {
        "acceleration": [
            1.3158416748046875,
            -0.05761265754699707,
            -0.0022993236780166626
        ],
        "angular_velocity": [
            -0.20857025682926178,
            -0.15078049898147583,
            2.337376832962036
        ],
        "forward_vector": [
            -0.9994717240333557,
            0.03236993029713631,
            0.002911444054916501
        ],
        "right_vector": [
            -0.032372426241636276,
            -0.9994755387306213,
            -0.0008144264575093985
        ],
        "location": [
            611.4627685546875,
            4287.828125,
            370.1532287597656
        ],
        "rotation": [
            0.04666340351104736,
            0.1668137013912201,
            178.14500427246094
        ],
        "velocity": [
            -9.39783763885498,
            0.30487707257270813,
            0.04479454830288887
        ],
        "speed": 9.402781626500738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 18.28414535522461,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                593.1815795898438,
                4287.5107421875,
                370.2391052246094
            ],
            "velocity": [
                -7.34397554397583,
                0.04170793294906616,
                0.0333680734038353
            ],
            "speed_kmh": 26.439011211196842,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.125020980834961,
                "transform": {
                    "location": {
                        "x": 573.7149047851562,
                        "y": 4297.4775390625,
                        "z": 370.3191833496094
                    },
                    "rotation": {
                        "roll": -0.0016784665640443563,
                        "pitch": -0.19894291460514069,
                        "yaw": -0.2993774116039276
                    }
                },
                "velocity": {
                    "x": 1.1249938011169434,
                    "y": 0.007250685710459948,
                    "z": -0.002906370209529996
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2341737747192383,
                "transform": {
                    "location": {
                        "x": 573.891357421875,
                        "y": 4294.2275390625,
                        "z": 370.3202209472656
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.18755698204040527,
                        "yaw": -0.2191162109375
                    }
                },
                "velocity": {
                    "x": 2.2341039180755615,
                    "y": 0.013771645724773407,
                    "z": -0.011046466417610645
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.536768913269043,
                "transform": {
                    "location": {
                        "x": 621.410888671875,
                        "y": 4297.29443359375,
                        "z": 370.1022033691406
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.26467666029930115,
                        "yaw": -0.3796996772289276
                    }
                },
                "velocity": {
                    "x": 7.536540508270264,
                    "y": -0.04601624980568886,
                    "z": -0.0364435538649559
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062416076660156,
                "transform": {
                    "location": {
                        "x": 662.5784912109375,
                        "y": 4297.0517578125,
                        "z": 369.8999938964844
                    },
                    "rotation": {
                        "roll": 0.0003730576718226075,
                        "pitch": -0.3121054768562317,
                        "yaw": -0.3324889838695526
                    }
                },
                "velocity": {
                    "x": 8.062154769897461,
                    "y": -0.046960797160863876,
                    "z": -0.04480185732245445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084478378295898,
                "transform": {
                    "location": {
                        "x": 665.2474365234375,
                        "y": 4293.78759765625,
                        "z": 369.87603759765625
                    },
                    "rotation": {
                        "roll": 0.000346101209288463,
                        "pitch": -0.3136012852191925,
                        "yaw": -0.35125732421875
                    }
                },
                "velocity": {
                    "x": 8.084202766418457,
                    "y": -0.049570001661777496,
                    "z": -0.044718187302351
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.041010856628418,
                "transform": {
                    "location": {
                        "x": 622.2997436523438,
                        "y": 4294.04052734375,
                        "z": 370.1095886230469
                    },
                    "rotation": {
                        "roll": 0.0014753019204363227,
                        "pitch": -0.3138403594493866,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 8.040755271911621,
                    "y": -0.04942144453525543,
                    "z": -0.040737275034189224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.223741292953491,
                "transform": {
                    "location": {
                        "x": 664.1015625,
                        "y": 4287.09033203125,
                        "z": 369.8819580078125
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.29288533329963684,
                        "yaw": 179.6697540283203
                    }
                },
                "velocity": {
                    "x": -3.2236344814300537,
                    "y": 0.018690744414925575,
                    "z": 0.01846318133175373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011444595293141901,
                "transform": {
                    "location": {
                        "x": 653.168701171875,
                        "y": 4287.15576171875,
                        "z": 369.9498596191406
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": 0.31052088737487793,
                        "yaw": 179.6090087890625
                    }
                },
                "velocity": {
                    "x": -0.00010486379323992878,
                    "y": -1.1540800187503919e-05,
                    "z": 4.436519884620793e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.344169616699219,
                "transform": {
                    "location": {
                        "x": 593.1815795898438,
                        "y": 4287.5107421875,
                        "z": 370.2391052246094
                    },
                    "rotation": {
                        "roll": 0.00033669054391793907,
                        "pitch": 0.03336547315120697,
                        "yaw": 179.67457580566406
                    }
                },
                "velocity": {
                    "x": -7.34397554397583,
                    "y": 0.04170793294906616,
                    "z": 0.0333680734038353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012358665466309,
                "transform": {
                    "location": {
                        "x": 571.2686767578125,
                        "y": 4287.64013671875,
                        "z": 370.36956787109375
                    },
                    "rotation": {
                        "roll": 2.487234269210603e-05,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.6630859375
                    }
                },
                "velocity": {
                    "x": -8.012150764465332,
                    "y": 0.047170404344797134,
                    "z": 0.033214226365089417
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.845000267028809,
                "transform": {
                    "location": {
                        "x": 642.7057495117188,
                        "y": 4290.46923828125,
                        "z": 370.0047607421875
                    },
                    "rotation": {
                        "roll": 0.0018409139011055231,
                        "pitch": 0.3206022381782532,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -9.844695091247559,
                    "y": 0.05736956000328064,
                    "z": 0.052159328013658524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.8937406539917,
                "transform": {
                    "location": {
                        "x": 625.3507080078125,
                        "y": 4290.5703125,
                        "z": 370.0937805175781
                    },
                    "rotation": {
                        "roll": 4.9534653953742236e-05,
                        "pitch": 0.24885793030261993,
                        "yaw": 179.6608428955078
                    }
                },
                "velocity": {
                    "x": -10.893420219421387,
                    "y": 0.06451153755187988,
                    "z": 0.05322771891951561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044280052185059,
                "transform": {
                    "location": {
                        "x": 602.2174682617188,
                        "y": 4290.705078125,
                        "z": 370.2350769042969
                    },
                    "rotation": {
                        "roll": 0.0007715789834037423,
                        "pitch": 0.27132925391197205,
                        "yaw": 179.6408233642578
                    }
                },
                "velocity": {
                    "x": -8.044036865234375,
                    "y": 0.050386589020490646,
                    "z": 0.03712102770805359
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990910530090332,
                "transform": {
                    "location": {
                        "x": 583.8368530273438,
                        "y": 4290.81396484375,
                        "z": 370.2764892578125
                    },
                    "rotation": {
                        "roll": -0.0004577638756018132,
                        "pitch": 0.24540868401527405,
                        "yaw": 179.641845703125
                    }
                },
                "velocity": {
                    "x": -7.990691184997559,
                    "y": 0.049103666096925735,
                    "z": 0.03311571106314659
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31354987621307373,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29058608412742615,
        "expert_target_speed": 9.319503555113164,
        "target_point": [
            31.902673380521637,
            1.1700108319579021
        ],
        "target_point_next": [
            37.90056096571538,
            1.3285990381334662
        ]
    },
    "345": {
        "acceleration": [
            1.1333847045898438,
            -0.31968504190444946,
            0.0003238767385482788
        ],
        "angular_velocity": [
            -0.31387418508529663,
            -0.0018830009503290057,
            -0.6632049083709717
        ],
        "forward_vector": [
            -0.9996076822280884,
            0.027890224009752274,
            0.0025567978154867887
        ],
        "right_vector": [
            -0.027888458222150803,
            -0.9996107816696167,
            0.000723844685126096
        ],
        "location": [
            609.1544189453125,
            4287.89453125,
            370.1642150878906
        ],
        "rotation": [
            -0.0414733849465847,
            0.14649388194084167,
            178.40179443359375
        ],
        "velocity": [
            -9.092066764831543,
            0.22852694988250732,
            0.044498804956674576
        ],
        "speed": 9.09493829682076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.824295043945312,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                591.334228515625,
                4287.52099609375,
                370.2467041015625
            ],
            "velocity": [
                -7.637842178344727,
                0.046198148280382156,
                0.03284578397870064
            ],
            "speed_kmh": 27.496989061973302,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7610317468643188,
                "transform": {
                    "location": {
                        "x": 574.0862426757812,
                        "y": 4297.478515625,
                        "z": 370.3171081542969
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.20288392901420593,
                        "yaw": -0.193450927734375
                    }
                },
                "velocity": {
                    "x": 1.7609699964523315,
                    "y": 0.011287933215498924,
                    "z": -0.009498796425759792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1593799591064453,
                "transform": {
                    "location": {
                        "x": 574.5770263671875,
                        "y": 4294.23046875,
                        "z": 370.3168029785156
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.20401090383529663,
                        "yaw": -0.0268859826028347
                    }
                },
                "velocity": {
                    "x": 3.159271478652954,
                    "y": 0.021817130967974663,
                    "z": -0.014471911825239658
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.573651313781738,
                "transform": {
                    "location": {
                        "x": 623.388427734375,
                        "y": 4297.2822265625,
                        "z": 370.09228515625
                    },
                    "rotation": {
                        "roll": 9.931379463523626e-05,
                        "pitch": -0.25277847051620483,
                        "yaw": -0.3215332329273224
                    }
                },
                "velocity": {
                    "x": 8.573394775390625,
                    "y": -0.05159830302000046,
                    "z": -0.0416443906724453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093358039855957,
                "transform": {
                    "location": {
                        "x": 664.5982055664062,
                        "y": 4297.0400390625,
                        "z": 369.8890075683594
                    },
                    "rotation": {
                        "roll": 0.00020768822287209332,
                        "pitch": -0.3127133548259735,
                        "yaw": -0.337493896484375
                    }
                },
                "velocity": {
                    "x": 8.093087196350098,
                    "y": -0.04861060157418251,
                    "z": -0.04489459842443466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050965309143066,
                "transform": {
                    "location": {
                        "x": 667.2640991210938,
                        "y": 4293.77587890625,
                        "z": 369.8650207519531
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -0.3135329782962799,
                        "yaw": -0.3535461127758026
                    }
                },
                "velocity": {
                    "x": 8.050688743591309,
                    "y": -0.049749068915843964,
                    "z": -0.044516291469335556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06966781616211,
                "transform": {
                    "location": {
                        "x": 624.312255859375,
                        "y": 4294.029296875,
                        "z": 370.0992431640625
                    },
                    "rotation": {
                        "roll": 8.147340849973261e-05,
                        "pitch": -0.2882339656352997,
                        "yaw": -0.3663329482078552
                    }
                },
                "velocity": {
                    "x": 8.069412231445312,
                    "y": -0.04977766051888466,
                    "z": -0.04053346440196037
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8076435923576355,
                "transform": {
                    "location": {
                        "x": 663.5171508789062,
                        "y": 4287.09375,
                        "z": 369.8853759765625
                    },
                    "rotation": {
                        "roll": 0.00012612444697879255,
                        "pitch": 0.26471078395843506,
                        "yaw": 179.66822814941406
                    }
                },
                "velocity": {
                    "x": -0.8076183795928955,
                    "y": 0.0047857025638222694,
                    "z": 0.0042243096977472305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.015239812433719635,
                "transform": {
                    "location": {
                        "x": 653.169189453125,
                        "y": 4287.15576171875,
                        "z": 369.9499206542969
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.3059309720993042,
                        "yaw": 179.6090545654297
                    }
                },
                "velocity": {
                    "x": 0.015239035710692406,
                    "y": -9.130445687333122e-05,
                    "z": -0.00012385367881506681
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.638052463531494,
                "transform": {
                    "location": {
                        "x": 591.334228515625,
                        "y": 4287.52099609375,
                        "z": 370.2467041015625
                    },
                    "rotation": {
                        "roll": 0.0022648221347481012,
                        "pitch": 0.20181842148303986,
                        "yaw": 179.6629180908203
                    }
                },
                "velocity": {
                    "x": -7.637842178344727,
                    "y": 0.046198148280382156,
                    "z": 0.03284578397870064
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010961532592773,
                "transform": {
                    "location": {
                        "x": 569.2686157226562,
                        "y": 4287.65185546875,
                        "z": 370.3773498535156
                    },
                    "rotation": {
                        "roll": 8.195696864277124e-05,
                        "pitch": 0.22689203917980194,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -8.010751724243164,
                    "y": 0.047671712934970856,
                    "z": 0.033006105571985245
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.359591484069824,
                "transform": {
                    "location": {
                        "x": 640.1604614257812,
                        "y": 4290.48388671875,
                        "z": 370.01861572265625
                    },
                    "rotation": {
                        "roll": 0.0009685891564004123,
                        "pitch": 0.2548343539237976,
                        "yaw": 179.6627960205078
                    }
                },
                "velocity": {
                    "x": -10.359275817871094,
                    "y": 0.06114107370376587,
                    "z": 0.052952662110328674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.85731029510498,
                "transform": {
                    "location": {
                        "x": 622.7310791015625,
                        "y": 4290.5859375,
                        "z": 370.1058044433594
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.3547053635120392,
                        "yaw": 179.65599060058594
                    }
                },
                "velocity": {
                    "x": -9.857010841369629,
                    "y": 0.05920818820595741,
                    "z": 0.048960551619529724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00823974609375,
                "transform": {
                    "location": {
                        "x": 600.2110595703125,
                        "y": 4290.716796875,
                        "z": 370.24444580078125
                    },
                    "rotation": {
                        "roll": 0.0008048462914302945,
                        "pitch": 0.2679961323738098,
                        "yaw": 179.64401245117188
                    }
                },
                "velocity": {
                    "x": -8.0079984664917,
                    "y": 0.04961978644132614,
                    "z": 0.03747421130537987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022804260253906,
                "transform": {
                    "location": {
                        "x": 581.8347778320312,
                        "y": 4290.82568359375,
                        "z": 370.2850036621094
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": 0.24509449303150177,
                        "yaw": 179.6481475830078
                    }
                },
                "velocity": {
                    "x": -8.022584915161133,
                    "y": 0.04941321909427643,
                    "z": 0.032915934920310974
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4441346526145935,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31904587149620056,
        "expert_target_speed": 9.117384639699877,
        "target_point": [
            29.598292975704947,
            1.0290191443340966
        ],
        "target_point_next": [
            35.59683107986994,
            1.160724560470813
        ]
    },
    "350": {
        "acceleration": [
            0.9210014343261719,
            -0.3874000906944275,
            -0.030504092574119568
        ],
        "angular_velocity": [
            -0.09218098968267441,
            0.08282745629549026,
            4.6127400398254395
        ],
        "forward_vector": [
            -0.9998216032981873,
            0.018687909469008446,
            0.0027455054223537445
        ],
        "right_vector": [
            -0.018683530390262604,
            -0.9998241066932678,
            0.0016122704837471247
        ],
        "location": [
            606.9146118164062,
            4287.94140625,
            370.17486572265625
        ],
        "rotation": [
            -0.09237667918205261,
            0.15730607509613037,
            178.92919921875
        ],
        "velocity": [
            -8.84364128112793,
            0.13792814314365387,
            0.04061209410429001
        ],
        "speed": 8.844716800550547,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.613859176635742,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                589.3056640625,
                4287.533203125,
                370.2545471191406
            ],
            "velocity": [
                -8.357264518737793,
                0.049553774297237396,
                0.03689007833600044
            ],
            "speed_kmh": 30.086974249829805,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3163585662841797,
                "transform": {
                    "location": {
                        "x": 574.5977783203125,
                        "y": 4297.48095703125,
                        "z": 370.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": -0.21157875657081604,
                        "yaw": -0.0551757737994194
                    }
                },
                "velocity": {
                    "x": 2.3162825107574463,
                    "y": 0.01606959104537964,
                    "z": -0.009663171134889126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9322049617767334,
                "transform": {
                    "location": {
                        "x": 575.4685668945312,
                        "y": 4294.2353515625,
                        "z": 370.31304931640625
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.21441328525543213,
                        "yaw": 0.15715259313583374
                    }
                },
                "velocity": {
                    "x": 3.932065010070801,
                    "y": 0.02962234430015087,
                    "z": -0.014942197129130363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.437363624572754,
                "transform": {
                    "location": {
                        "x": 625.5526733398438,
                        "y": 4297.26904296875,
                        "z": 370.0818786621094
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.2771007716655731,
                        "yaw": -0.264892578125
                    }
                },
                "velocity": {
                    "x": 8.437129020690918,
                    "y": -0.04782950133085251,
                    "z": -0.040978312492370605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062865257263184,
                "transform": {
                    "location": {
                        "x": 666.6174926757812,
                        "y": 4297.02880859375,
                        "z": 369.8780517578125
                    },
                    "rotation": {
                        "roll": -0.00015258777420967817,
                        "pitch": -0.31570500135421753,
                        "yaw": -0.343109130859375
                    }
                },
                "velocity": {
                    "x": 8.062596321105957,
                    "y": -0.04822680354118347,
                    "z": -0.04489715397357941
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085488319396973,
                "transform": {
                    "location": {
                        "x": 669.2813110351562,
                        "y": 4293.76416015625,
                        "z": 369.8539733886719
                    },
                    "rotation": {
                        "roll": 7.23023185855709e-05,
                        "pitch": -0.3126792013645172,
                        "yaw": -0.3541260063648224
                    }
                },
                "velocity": {
                    "x": 8.085212707519531,
                    "y": -0.04993780329823494,
                    "z": -0.04423302412033081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.096238136291504,
                "transform": {
                    "location": {
                        "x": 626.3347778320312,
                        "y": 4294.01708984375,
                        "z": 370.0891418457031
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": -0.2729479968547821,
                        "yaw": -0.3361510932445526
                    }
                },
                "velocity": {
                    "x": 8.09598445892334,
                    "y": -0.04928146302700043,
                    "z": -0.04090174660086632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008187341736629605,
                "transform": {
                    "location": {
                        "x": 663.5073852539062,
                        "y": 4287.09375,
                        "z": 369.88531494140625
                    },
                    "rotation": {
                        "roll": 0.00036189539241604507,
                        "pitch": 0.2810349464416504,
                        "yaw": 179.6680145263672
                    }
                },
                "velocity": {
                    "x": 6.0185826441738755e-05,
                    "y": -1.2434234122338239e-05,
                    "z": 0.0008164243190549314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0024911854416131973,
                "transform": {
                    "location": {
                        "x": 653.17138671875,
                        "y": 4287.15576171875,
                        "z": 369.9499206542969
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.3062383532524109,
                        "yaw": 179.60858154296875
                    }
                },
                "velocity": {
                    "x": -0.0024734977632761,
                    "y": -6.717609358020127e-05,
                    "z": -0.00028861997998319566
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.357492446899414,
                "transform": {
                    "location": {
                        "x": 589.3056640625,
                        "y": 4287.533203125,
                        "z": 370.2545471191406
                    },
                    "rotation": {
                        "roll": 0.00014587087207473814,
                        "pitch": 0.46618086099624634,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": -8.357264518737793,
                    "y": 0.049553774297237396,
                    "z": 0.03689007833600044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.056744575500488,
                "transform": {
                    "location": {
                        "x": 567.2574462890625,
                        "y": 4287.66357421875,
                        "z": 370.3852233886719
                    },
                    "rotation": {
                        "roll": 0.0005709800752811134,
                        "pitch": 0.22667346894741058,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -8.056539535522461,
                    "y": 0.04795551300048828,
                    "z": 0.031842172145843506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.28210735321045,
                "transform": {
                    "location": {
                        "x": 637.69970703125,
                        "y": 4290.49853515625,
                        "z": 370.03033447265625
                    },
                    "rotation": {
                        "roll": 0.0005398474750109017,
                        "pitch": 0.37312638759613037,
                        "yaw": 179.66685485839844
                    }
                },
                "velocity": {
                    "x": -9.28182315826416,
                    "y": 0.053927429020404816,
                    "z": 0.04867479205131531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.5238618850708,
                "transform": {
                    "location": {
                        "x": 620.3492431640625,
                        "y": 4290.599609375,
                        "z": 370.11773681640625
                    },
                    "rotation": {
                        "roll": 0.00023167868494056165,
                        "pitch": 0.32783541083335876,
                        "yaw": 179.65554809570312
                    }
                },
                "velocity": {
                    "x": -9.52357292175293,
                    "y": 0.05729641392827034,
                    "z": 0.04722798243165016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042866706848145,
                "transform": {
                    "location": {
                        "x": 598.2047119140625,
                        "y": 4290.728515625,
                        "z": 370.2537841796875
                    },
                    "rotation": {
                        "roll": -6.103527266532183e-05,
                        "pitch": 0.268624484539032,
                        "yaw": 179.6449432373047
                    }
                },
                "velocity": {
                    "x": -8.042625427246094,
                    "y": 0.049882691353559494,
                    "z": 0.037264373153448105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990993499755859,
                "transform": {
                    "location": {
                        "x": 579.8330078125,
                        "y": 4290.83740234375,
                        "z": 370.2934265136719
                    },
                    "rotation": {
                        "roll": 4.2842097172979265e-05,
                        "pitch": 0.23930932581424713,
                        "yaw": 179.6486358642578
                    }
                },
                "velocity": {
                    "x": -7.990771293640137,
                    "y": 0.04973653703927994,
                    "z": 0.03282824531197548
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32122355699539185,
        "expert_target_speed": 8.974007848049837,
        "target_point": [
            27.366218931843548,
            0.7615413633017566
        ],
        "target_point_next": [
            33.365715224534014,
            0.8380262490807078
        ]
    },
    "355": {
        "acceleration": [
            0.8613395690917969,
            -0.48100560903549194,
            -0.010482817888259888
        ],
        "angular_velocity": [
            -0.1218140721321106,
            0.034822579473257065,
            0.2133486270904541
        ],
        "forward_vector": [
            -0.999962329864502,
            0.008151793852448463,
            0.0029843999072909355
        ],
        "right_vector": [
            -0.008145065046846867,
            -0.9999642968177795,
            0.002259946195408702
        ],
        "location": [
            604.7325439453125,
            4287.9638671875,
            370.18505859375
        ],
        "rotation": [
            -0.1294860541820526,
            0.17099377512931824,
            179.53292846679688
        ],
        "velocity": [
            -8.623022079467773,
            0.028525203466415405,
            0.04078039899468422
        ],
        "speed": 8.623069260432827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.465238571166992,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                587.2725219726562,
                4287.54443359375,
                370.2644348144531
            ],
            "velocity": [
                -7.8989996910095215,
                0.048991356045007706,
                0.03557658940553665
            ],
            "speed_kmh": 28.43723423734509,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.868546485900879,
                "transform": {
                    "location": {
                        "x": 575.2483520507812,
                        "y": 4297.48388671875,
                        "z": 370.3121032714844
                    },
                    "rotation": {
                        "roll": -0.002655029296875,
                        "pitch": -0.2135321944952011,
                        "yaw": 0.09181994944810867
                    }
                },
                "velocity": {
                    "x": 2.8684511184692383,
                    "y": 0.021068662405014038,
                    "z": -0.010165815241634846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.688723087310791,
                "transform": {
                    "location": {
                        "x": 576.549072265625,
                        "y": 4294.2421875,
                        "z": 370.30865478515625
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.21856604516506195,
                        "yaw": 0.271274596452713
                    }
                },
                "velocity": {
                    "x": 4.688662528991699,
                    "y": 0.01484681572765112,
                    "z": -0.018576106056571007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.090051651000977,
                "transform": {
                    "location": {
                        "x": 627.6118774414062,
                        "y": 4297.25732421875,
                        "z": 370.07183837890625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.29567888379096985,
                        "yaw": -0.3055419623851776
                    }
                },
                "velocity": {
                    "x": 8.089813232421875,
                    "y": -0.046133264899253845,
                    "z": -0.04152907803654671
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092967987060547,
                "transform": {
                    "location": {
                        "x": 668.6371459960938,
                        "y": 4297.0166015625,
                        "z": 369.866943359375
                    },
                    "rotation": {
                        "roll": 0.0002927129971794784,
                        "pitch": -0.3157596290111542,
                        "yaw": -0.344970703125
                    }
                },
                "velocity": {
                    "x": 8.092690467834473,
                    "y": -0.049640655517578125,
                    "z": -0.045037586241960526
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05105972290039,
                "transform": {
                    "location": {
                        "x": 671.2982788085938,
                        "y": 4293.75244140625,
                        "z": 369.8429260253906
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.3141477108001709,
                        "yaw": -0.3568115234375
                    }
                },
                "velocity": {
                    "x": 8.050776481628418,
                    "y": -0.05014257878065109,
                    "z": -0.0452403761446476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.074800491333008,
                "transform": {
                    "location": {
                        "x": 628.35595703125,
                        "y": 4294.00537109375,
                        "z": 370.0791320800781
                    },
                    "rotation": {
                        "roll": 0.0004341627354733646,
                        "pitch": -0.2900712788105011,
                        "yaw": -0.3627623915672302
                    }
                },
                "velocity": {
                    "x": 8.074539184570312,
                    "y": -0.050288185477256775,
                    "z": -0.04115939885377884
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015820463886484504,
                "transform": {
                    "location": {
                        "x": 663.50732421875,
                        "y": 4287.09375,
                        "z": 369.8851013183594
                    },
                    "rotation": {
                        "roll": 0.0004494431195780635,
                        "pitch": 0.30202412605285645,
                        "yaw": 179.6680145263672
                    }
                },
                "velocity": {
                    "x": 1.5100128621270414e-05,
                    "y": -1.2569636965054087e-05,
                    "z": 0.00015697993512731045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.24476756155490875,
                "transform": {
                    "location": {
                        "x": 653.1544189453125,
                        "y": 4287.15576171875,
                        "z": 369.9495544433594
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.34724679589271545,
                        "yaw": 179.5978546142578
                    }
                },
                "velocity": {
                    "x": -0.24475844204425812,
                    "y": 0.0015124476049095392,
                    "z": 0.0014760589692741632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.899231910705566,
                "transform": {
                    "location": {
                        "x": 587.2725219726562,
                        "y": 4287.54443359375,
                        "z": 370.2644348144531
                    },
                    "rotation": {
                        "roll": 0.001702660578303039,
                        "pitch": 0.22596313059329987,
                        "yaw": 179.65347290039062
                    }
                },
                "velocity": {
                    "x": -7.8989996910095215,
                    "y": 0.048991356045007706,
                    "z": 0.03557658940553665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993390083312988,
                "transform": {
                    "location": {
                        "x": 565.2527465820312,
                        "y": 4287.67529296875,
                        "z": 370.39306640625
                    },
                    "rotation": {
                        "roll": 0.0002317559701623395,
                        "pitch": 0.22041702270507812,
                        "yaw": 179.65890502929688
                    }
                },
                "velocity": {
                    "x": -7.993193626403809,
                    "y": 0.047564730048179626,
                    "z": 0.02959567867219448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.020315170288086,
                "transform": {
                    "location": {
                        "x": 635.4429321289062,
                        "y": 4290.51220703125,
                        "z": 370.0423889160156
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.3310660719871521,
                        "yaw": 179.66673278808594
                    }
                },
                "velocity": {
                    "x": -9.020050048828125,
                    "y": 0.052417825907468796,
                    "z": 0.04506075754761696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.11553955078125,
                "transform": {
                    "location": {
                        "x": 617.8953857421875,
                        "y": 4290.6142578125,
                        "z": 370.1304626464844
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": 0.2244536578655243,
                        "yaw": 179.65994262695312
                    }
                },
                "velocity": {
                    "x": -10.11524486541748,
                    "y": 0.06002121791243553,
                    "z": 0.048610009253025055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00915813446045,
                "transform": {
                    "location": {
                        "x": 596.1984252929688,
                        "y": 4290.740234375,
                        "z": 370.26300048828125
                    },
                    "rotation": {
                        "roll": 0.0005850744782947004,
                        "pitch": 0.2628529965877533,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -8.00892448425293,
                    "y": 0.04964341223239899,
                    "z": 0.03574790060520172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023859024047852,
                "transform": {
                    "location": {
                        "x": 577.8308715820312,
                        "y": 4290.84912109375,
                        "z": 370.3017578125
                    },
                    "rotation": {
                        "roll": 0.0008458815864287317,
                        "pitch": 0.23740370571613312,
                        "yaw": 179.64720153808594
                    }
                },
                "velocity": {
                    "x": -8.023640632629395,
                    "y": 0.04939926415681839,
                    "z": 0.03262128680944443
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30994585156440735,
        "expert_target_speed": 8.802110175779415,
        "target_point": [
            25.190545551219557,
            0.4778157562370362
        ],
        "target_point_next": [
            31.190514698132482,
            0.49107998829706356
        ]
    },
    "360": {
        "acceleration": [
            0.8045768737792969,
            -0.4317927956581116,
            0.0077533721923828125
        ],
        "angular_velocity": [
            0.01488374825567007,
            0.025525765493512154,
            5.535308361053467
        ],
        "forward_vector": [
            -0.9999827146530151,
            -0.004974709823727608,
            0.0031174367759376764
        ],
        "right_vector": [
            0.0049826777540147305,
            -0.9999842643737793,
            0.0025534227024763823
        ],
        "location": [
            602.6036987304688,
            4287.95849609375,
            370.1949768066406
        ],
        "rotation": [
            -0.14630122482776642,
            0.17861627042293549,
            -179.7149658203125
        ],
        "velocity": [
            -8.417616844177246,
            -0.08304902911186218,
            0.04073058068752289
        ],
        "speed": 8.418026519120318,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.302522659301758,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                585.3060302734375,
                4287.55615234375,
                370.27294921875
            ],
            "velocity": [
                -7.990025997161865,
                0.04832012206315994,
                0.03377218171954155
            ],
            "speed_kmh": 28.76487651901024,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5183746814727783,
                "transform": {
                    "location": {
                        "x": 576.0468139648438,
                        "y": 4297.48876953125,
                        "z": 370.3088684082031
                    },
                    "rotation": {
                        "roll": -0.0036926271859556437,
                        "pitch": -0.2141127586364746,
                        "yaw": 0.2236630618572235
                    }
                },
                "velocity": {
                    "x": 3.5182411670684814,
                    "y": 0.027344515547156334,
                    "z": -0.013860120438039303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2279839515686035,
                "transform": {
                    "location": {
                        "x": 577.8134155273438,
                        "y": 4294.2451171875,
                        "z": 370.3038635253906
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.22344963252544403,
                        "yaw": 0.16752232611179352
                    }
                },
                "velocity": {
                    "x": 5.227935791015625,
                    "y": 0.006924904882907867,
                    "z": -0.021337203681468964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.090578079223633,
                "transform": {
                    "location": {
                        "x": 629.5595092773438,
                        "y": 4297.24658203125,
                        "z": 370.0622253417969
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.32009679079055786,
                        "yaw": -0.2995300590991974
                    }
                },
                "velocity": {
                    "x": 7.0903778076171875,
                    "y": -0.03926317021250725,
                    "z": -0.036035142838954926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063570022583008,
                "transform": {
                    "location": {
                        "x": 670.6566162109375,
                        "y": 4297.0048828125,
                        "z": 369.8559265136719
                    },
                    "rotation": {
                        "roll": 0.00043248897418379784,
                        "pitch": -0.3155547082424164,
                        "yaw": -0.349700927734375
                    }
                },
                "velocity": {
                    "x": 8.063295364379883,
                    "y": -0.049219489097595215,
                    "z": -0.044687479734420776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 673.3279418945312,
                        "y": 4293.7275390625,
                        "z": 369.8324890136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31748083233833313,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.071706771850586,
                "transform": {
                    "location": {
                        "x": 630.3735961914062,
                        "y": 4293.99365234375,
                        "z": 370.0690612792969
                    },
                    "rotation": {
                        "roll": 0.00062643300043419,
                        "pitch": -0.29769378900527954,
                        "yaw": -0.3409728705883026
                    }
                },
                "velocity": {
                    "x": 8.071447372436523,
                    "y": -0.04995282366871834,
                    "z": -0.04119226336479187
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.08770546317100525,
                "transform": {
                    "location": {
                        "x": 663.5029296875,
                        "y": 4287.09375,
                        "z": 369.88507080078125
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.3102613389492035,
                        "yaw": 179.6665496826172
                    }
                },
                "velocity": {
                    "x": -0.0876932144165039,
                    "y": 0.00048784574028104544,
                    "z": 0.001381940790452063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8594033122062683,
                "transform": {
                    "location": {
                        "x": 653.0010986328125,
                        "y": 4287.15673828125,
                        "z": 369.9496765136719
                    },
                    "rotation": {
                        "roll": -0.002349852817133069,
                        "pitch": 0.4540572762489319,
                        "yaw": 179.61741638183594
                    }
                },
                "velocity": {
                    "x": -0.8593810796737671,
                    "y": 0.004987189546227455,
                    "z": 0.003650989383459091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.990243434906006,
                "transform": {
                    "location": {
                        "x": 585.3060302734375,
                        "y": 4287.55615234375,
                        "z": 370.27294921875
                    },
                    "rotation": {
                        "roll": 0.00023432580928783864,
                        "pitch": 0.24029970169067383,
                        "yaw": 179.64601135253906
                    }
                },
                "velocity": {
                    "x": -7.990025997161865,
                    "y": 0.04832012206315994,
                    "z": 0.03377218171954155
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051939964294434,
                "transform": {
                    "location": {
                        "x": 563.2467651367188,
                        "y": 4287.68701171875,
                        "z": 370.4006652832031
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.21791717410087585,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -8.051742553710938,
                    "y": 0.04794428125023842,
                    "z": 0.029630964621901512
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.551878929138184,
                "transform": {
                    "location": {
                        "x": 633.119384765625,
                        "y": 4290.525390625,
                        "z": 370.0546875
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.24534721672534943,
                        "yaw": 179.6724853515625
                    }
                },
                "velocity": {
                    "x": -9.55159854888916,
                    "y": 0.054619356989860535,
                    "z": 0.04879991337656975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.341522216796875,
                "transform": {
                    "location": {
                        "x": 615.4402465820312,
                        "y": 4290.62841796875,
                        "z": 370.1413879394531
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.3285389244556427,
                        "yaw": 179.65992736816406
                    }
                },
                "velocity": {
                    "x": -9.341249465942383,
                    "y": 0.055423419922590256,
                    "z": 0.04493702948093414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043957710266113,
                "transform": {
                    "location": {
                        "x": 594.1918334960938,
                        "y": 4290.751953125,
                        "z": 370.2721252441406
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.2616645395755768,
                        "yaw": 179.64486694335938
                    }
                },
                "velocity": {
                    "x": -8.04371452331543,
                    "y": 0.04985089600086212,
                    "z": 0.03780083730816841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991621971130371,
                "transform": {
                    "location": {
                        "x": 575.8291015625,
                        "y": 4290.861328125,
                        "z": 370.3099670410156
                    },
                    "rotation": {
                        "roll": 5.943364158156328e-05,
                        "pitch": 0.23357196152210236,
                        "yaw": 179.64634704589844
                    }
                },
                "velocity": {
                    "x": -7.991395473480225,
                    "y": 0.04997890815138817,
                    "z": 0.033466242253780365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2668096125125885,
        "expert_target_speed": 8.659078117803926,
        "target_point": [
            23.065801612027194,
            0.15234320692335426
        ],
        "target_point_next": [
            29.06542797025424,
            0.08685072318312659
        ]
    },
    "365": {
        "acceleration": [
            0.7666969299316406,
            -0.24866551160812378,
            -0.006856545805931091
        ],
        "angular_velocity": [
            0.06357535719871521,
            0.022265901789069176,
            -0.42661187052726746
        ],
        "forward_vector": [
            -0.9998631477355957,
            -0.01623351499438286,
            0.0031861010938882828
        ],
        "right_vector": [
            0.016240976750850677,
            -0.9998653531074524,
            0.0023307849187403917
        ],
        "location": [
            600.524658203125,
            4287.92822265625,
            370.2048034667969
        ],
        "rotation": [
            -0.1335449367761612,
            0.18255046010017395,
            -179.06983947753906
        ],
        "velocity": [
            -8.221818923950195,
            -0.16770030558109283,
            0.03888639435172081
        ],
        "speed": 8.223529036290778,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.25478744506836,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                583.2738037109375,
                4287.56787109375,
                370.28143310546875
            ],
            "velocity": [
                -8.13238525390625,
                0.049403488636016846,
                0.0339178740978241
            ],
            "speed_kmh": 29.277381753512834,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.35938835144043,
                "transform": {
                    "location": {
                        "x": 577.0310668945312,
                        "y": 4297.49365234375,
                        "z": 370.30487060546875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.21028785407543182,
                        "yaw": 0.24678213894367218
                    }
                },
                "velocity": {
                    "x": 4.359342098236084,
                    "y": 0.00846127886325121,
                    "z": -0.018241720274090767
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.101245403289795,
                "transform": {
                    "location": {
                        "x": 579.2217407226562,
                        "y": 4294.24755859375,
                        "z": 370.2978820800781
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.2187163084745407,
                        "yaw": 0.09231357276439667
                    }
                },
                "velocity": {
                    "x": 6.1011857986450195,
                    "y": 0.006349768023937941,
                    "z": -0.026198619976639748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.890366554260254,
                "transform": {
                    "location": {
                        "x": 631.2769165039062,
                        "y": 4297.23681640625,
                        "z": 370.0533142089844
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": -0.3083761930465698,
                        "yaw": -0.2913512885570526
                    }
                },
                "velocity": {
                    "x": 6.89016580581665,
                    "y": -0.03968057781457901,
                    "z": -0.03452582284808159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 672.7138061523438,
                        "y": 4296.966796875,
                        "z": 369.8435363769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31748083233833313,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 675.4097290039062,
                        "y": 4293.64990234375,
                        "z": 369.8243713378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31748083233833313,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.080933570861816,
                "transform": {
                    "location": {
                        "x": 632.3927001953125,
                        "y": 4293.98095703125,
                        "z": 370.0587463378906
                    },
                    "rotation": {
                        "roll": 0.0006003121961839497,
                        "pitch": -0.2924140393733978,
                        "yaw": -0.3746642768383026
                    }
                },
                "velocity": {
                    "x": 8.080670356750488,
                    "y": -0.05088486149907112,
                    "z": -0.04088329151272774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7563498616218567,
                "transform": {
                    "location": {
                        "x": 663.3975830078125,
                        "y": 4287.09375,
                        "z": 369.8856506347656
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": 0.3224053978919983,
                        "yaw": 179.63819885253906
                    }
                },
                "velocity": {
                    "x": -0.7563287019729614,
                    "y": 0.004747246392071247,
                    "z": 0.003077869303524494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009738295921124518,
                "transform": {
                    "location": {
                        "x": 652.927001953125,
                        "y": 4287.1572265625,
                        "z": 369.9523620605469
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.15356996655464172,
                        "yaw": 179.65899658203125
                    }
                },
                "velocity": {
                    "x": -0.0009142222115769982,
                    "y": -2.9295608328538947e-05,
                    "z": -0.0003341910196468234
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.132606506347656,
                "transform": {
                    "location": {
                        "x": 583.2738037109375,
                        "y": 4287.56787109375,
                        "z": 370.28143310546875
                    },
                    "rotation": {
                        "roll": 0.0015428006881847978,
                        "pitch": 0.3001936376094818,
                        "yaw": 179.65121459960938
                    }
                },
                "velocity": {
                    "x": -8.13238525390625,
                    "y": 0.049403488636016846,
                    "z": 0.0339178740978241
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00774097442627,
                "transform": {
                    "location": {
                        "x": 561.2389526367188,
                        "y": 4287.69873046875,
                        "z": 370.408203125
                    },
                    "rotation": {
                        "roll": -9.155270527116954e-05,
                        "pitch": 0.21555392444133759,
                        "yaw": 179.6588897705078
                    }
                },
                "velocity": {
                    "x": -8.007543563842773,
                    "y": 0.047659777104854584,
                    "z": 0.02980913035571575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.964285850524902,
                "transform": {
                    "location": {
                        "x": 630.7921142578125,
                        "y": 4290.5390625,
                        "z": 370.06591796875
                    },
                    "rotation": {
                        "roll": 0.00015253786114044487,
                        "pitch": 0.3308680057525635,
                        "yaw": 179.66778564453125
                    }
                },
                "velocity": {
                    "x": -8.964018821716309,
                    "y": 0.05192521587014198,
                    "z": 0.045770712196826935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.285219192504883,
                "transform": {
                    "location": {
                        "x": 613.1424560546875,
                        "y": 4290.642578125,
                        "z": 370.1526794433594
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": 0.28950437903404236,
                        "yaw": 179.65968322753906
                    }
                },
                "velocity": {
                    "x": -9.28494930267334,
                    "y": 0.055105362087488174,
                    "z": 0.04441405087709427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007040023803711,
                "transform": {
                    "location": {
                        "x": 592.1857299804688,
                        "y": 4290.763671875,
                        "z": 370.2811279296875
                    },
                    "rotation": {
                        "roll": 0.00013454454892780632,
                        "pitch": 0.2587275505065918,
                        "yaw": 179.64500427246094
                    }
                },
                "velocity": {
                    "x": -8.006803512573242,
                    "y": 0.049586810171604156,
                    "z": 0.03639781102538109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023641586303711,
                "transform": {
                    "location": {
                        "x": 573.8270263671875,
                        "y": 4290.87255859375,
                        "z": 370.318115234375
                    },
                    "rotation": {
                        "roll": 0.00017776669119484723,
                        "pitch": 0.22954899072647095,
                        "yaw": 179.644287109375
                    }
                },
                "velocity": {
                    "x": -8.023417472839355,
                    "y": 0.049775995314121246,
                    "z": 0.033340394496917725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2323312908411026,
        "expert_target_speed": 8.527304385064559,
        "target_point": [
            20.986796783322546,
            -0.10389057783174677
        ],
        "target_point_next": [
            26.98530543576557,
            -0.23693061062398618
        ]
    },
    "370": {
        "acceleration": [
            0.6340408325195312,
            -0.04340440034866333,
            0.0185297429561615
        ],
        "angular_velocity": [
            0.25650519132614136,
            0.07480352371931076,
            3.5409772396087646
        ],
        "forward_vector": [
            -0.999732255935669,
            -0.02290075086057186,
            0.003303759964182973
        ],
        "right_vector": [
            0.022905228659510612,
            -0.9997367262840271,
            0.001324115670286119
        ],
        "location": [
            598.4931030273438,
            4287.8837890625,
            370.2142639160156
        ],
        "rotation": [
            -0.07586667686700821,
            0.189291849732399,
            -178.68775939941406
        ],
        "velocity": [
            -8.0431489944458,
            -0.1937979906797409,
            0.037574052810668945
        ],
        "speed": 8.045483416678328,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.222946166992188,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                581.2730102539062,
                4287.57958984375,
                370.2901916503906
            ],
            "velocity": [
                -7.93003511428833,
                0.048666976392269135,
                0.03326454013586044
            ],
            "speed_kmh": 28.548915174804023,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.295180797576904,
                "transform": {
                    "location": {
                        "x": 578.2474975585938,
                        "y": 4297.49658203125,
                        "z": 370.3000793457031
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.20562966167926788,
                        "yaw": 0.15173862874507904
                    }
                },
                "velocity": {
                    "x": 5.295138359069824,
                    "y": 0.006142797879874706,
                    "z": -0.02029399760067463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.931814193725586,
                "transform": {
                    "location": {
                        "x": 580.81787109375,
                        "y": 4294.25,
                        "z": 370.2911376953125
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": -0.21683117747306824,
                        "yaw": 0.0668172761797905
                    }
                },
                "velocity": {
                    "x": 6.931751728057861,
                    "y": 0.005570775363594294,
                    "z": -0.02890549600124359
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.698428153991699,
                "transform": {
                    "location": {
                        "x": 633.0924682617188,
                        "y": 4297.22607421875,
                        "z": 370.0437316894531
                    },
                    "rotation": {
                        "roll": 0.0012051365338265896,
                        "pitch": -0.27053695917129517,
                        "yaw": -0.3013915419578552
                    }
                },
                "velocity": {
                    "x": 7.698201656341553,
                    "y": -0.04500420391559601,
                    "z": -0.0382230319082737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 674.7962646484375,
                        "y": 4296.90966796875,
                        "z": 369.83026123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31748083233833313,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56535,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 677.4923095703125,
                        "y": 4293.62158203125,
                        "z": 369.8136291503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3202880322933197,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.080296516418457,
                "transform": {
                    "location": {
                        "x": 634.4131469726562,
                        "y": 4293.96923828125,
                        "z": 370.0484619140625
                    },
                    "rotation": {
                        "roll": 0.00059083680389449,
                        "pitch": -0.2922911047935486,
                        "yaw": -0.345123291015625
                    }
                },
                "velocity": {
                    "x": 8.080036163330078,
                    "y": -0.05054445564746857,
                    "z": -0.04065693914890289
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.002345084445551038,
                "transform": {
                    "location": {
                        "x": 663.1903076171875,
                        "y": 4287.09716796875,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.2992510497570038,
                        "yaw": 179.9195556640625
                    }
                },
                "velocity": {
                    "x": -0.0001139198211603798,
                    "y": -0.002304984489455819,
                    "z": 0.0004165208956692368
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0567336343228817,
                "transform": {
                    "location": {
                        "x": 652.9158935546875,
                        "y": 4287.1572265625,
                        "z": 369.9515075683594
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 0.2635291814804077,
                        "yaw": 179.65875244140625
                    }
                },
                "velocity": {
                    "x": -0.0567198246717453,
                    "y": 0.000279681000392884,
                    "z": 0.0012199210468679667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.930253982543945,
                "transform": {
                    "location": {
                        "x": 581.2730102539062,
                        "y": 4287.57958984375,
                        "z": 370.2901916503906
                    },
                    "rotation": {
                        "roll": 0.0014249710366129875,
                        "pitch": 0.21351853013038635,
                        "yaw": 179.64794921875
                    }
                },
                "velocity": {
                    "x": -7.93003511428833,
                    "y": 0.048666976392269135,
                    "z": 0.03326454013586044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04078197479248,
                "transform": {
                    "location": {
                        "x": 559.2333984375,
                        "y": 4287.71044921875,
                        "z": 370.4156799316406
                    },
                    "rotation": {
                        "roll": 0.001017285045236349,
                        "pitch": 0.21498018503189087,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -8.0405855178833,
                    "y": 0.04785042256116867,
                    "z": 0.02965671382844448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.706954956054688,
                "transform": {
                    "location": {
                        "x": 628.609375,
                        "y": 4290.55126953125,
                        "z": 370.0769958496094
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.3143799304962158,
                        "yaw": 179.6676788330078
                    }
                },
                "velocity": {
                    "x": -8.706695556640625,
                    "y": 0.0504944734275341,
                    "z": 0.04433562234044075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.07859992980957,
                "transform": {
                    "location": {
                        "x": 610.7227783203125,
                        "y": 4290.65673828125,
                        "z": 370.1649475097656
                    },
                    "rotation": {
                        "roll": 0.00025880991597659886,
                        "pitch": 0.20875106751918793,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -10.078315734863281,
                    "y": 0.05979061871767044,
                    "z": 0.046486034989356995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043534278869629,
                "transform": {
                    "location": {
                        "x": 590.1792602539062,
                        "y": 4290.775390625,
                        "z": 370.29010009765625
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.25305166840553284,
                        "yaw": 179.6433563232422
                    }
                },
                "velocity": {
                    "x": -8.043304443359375,
                    "y": 0.04854470118880272,
                    "z": 0.03666360676288605
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991443634033203,
                "transform": {
                    "location": {
                        "x": 571.8252563476562,
                        "y": 4290.88427734375,
                        "z": 370.32611083984375
                    },
                    "rotation": {
                        "roll": 5.438717926153913e-05,
                        "pitch": 0.22989049553871155,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -7.9912238121032715,
                    "y": 0.04963337257504463,
                    "z": 0.032390546053647995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1636963039636612,
        "expert_target_speed": 8.392373466581466,
        "target_point": [
            18.953597400319623,
            -0.24173645056916668
        ],
        "target_point_next": [
            24.95108549714873,
            -0.414774689558177
        ]
    },
    "375": {
        "acceleration": [
            0.1388072967529297,
            0.0477147102355957,
            0.0018398463726043701
        ],
        "angular_velocity": [
            0.13991516828536987,
            0.1411632001399994,
            -3.002662420272827
        ],
        "forward_vector": [
            -0.9997299313545227,
            -0.0229498241096735,
            0.003653637133538723
        ],
        "right_vector": [
            0.022951053455471992,
            -0.9997365474700928,
            0.0002950761991087347
        ],
        "location": [
            596.4965209960938,
            4287.837890625,
            370.2232666015625
        ],
        "rotation": [
            -0.0169067345559597,
            0.2093384563922882,
            -178.68495178222656
        ],
        "velocity": [
            -7.952545166015625,
            -0.18039865791797638,
            0.03699126094579697
        ],
        "speed": 7.954591019863755,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.224584579467773,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                579.2738647460938,
                4287.59130859375,
                370.29840087890625
            ],
            "velocity": [
                -8.07224178314209,
                0.0492405965924263,
                0.03309723734855652
            ],
            "speed_kmh": 29.06085533493385,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.579978942871094,
                "transform": {
                    "location": {
                        "x": 579.5846557617188,
                        "y": 4297.49853515625,
                        "z": 370.2945556640625
                    },
                    "rotation": {
                        "roll": -0.0019531246507540345,
                        "pitch": -0.22244559228420258,
                        "yaw": 0.11054179072380066
                    }
                },
                "velocity": {
                    "x": 5.579930782318115,
                    "y": 0.005182995460927486,
                    "z": -0.02257365733385086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.876950740814209,
                "transform": {
                    "location": {
                        "x": 582.6801147460938,
                        "y": 4294.25,
                        "z": 370.28326416015625
                    },
                    "rotation": {
                        "roll": 0.0006776176742278039,
                        "pitch": -0.22347694635391235,
                        "yaw": -0.012573241256177425
                    }
                },
                "velocity": {
                    "x": 7.876867294311523,
                    "y": -0.014156823977828026,
                    "z": -0.033379215747117996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.722869873046875,
                "transform": {
                    "location": {
                        "x": 635.109619140625,
                        "y": 4297.21435546875,
                        "z": 370.0334167480469
                    },
                    "rotation": {
                        "roll": -0.00030517586856149137,
                        "pitch": -0.25488215684890747,
                        "yaw": -0.2968444228172302
                    }
                },
                "velocity": {
                    "x": 8.722609519958496,
                    "y": -0.05125416815280914,
                    "z": -0.043735649436712265
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56536,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 676.8789672851562,
                        "y": 4296.8701171875,
                        "z": 369.8177795410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3202880322933197,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075263023376465,
                "transform": {
                    "location": {
                        "x": 636.4321899414062,
                        "y": 4293.95654296875,
                        "z": 370.03814697265625
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.2948046028614044,
                        "yaw": -0.37222281098365784
                    }
                },
                "velocity": {
                    "x": 8.075000762939453,
                    "y": -0.050451841205358505,
                    "z": -0.04110037162899971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008821362280286849,
                "transform": {
                    "location": {
                        "x": 663.1902465820312,
                        "y": 4287.09716796875,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": 0.0005555319366976619,
                        "pitch": 0.3009722828865051,
                        "yaw": 179.9195556640625
                    }
                },
                "velocity": {
                    "x": 3.0622035410488024e-05,
                    "y": 8.877014806785155e-06,
                    "z": 0.0008815598557703197
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5737804174423218,
                "transform": {
                    "location": {
                        "x": 652.8699340820312,
                        "y": 4287.1572265625,
                        "z": 369.9508361816406
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3983161151409149,
                        "yaw": 179.63543701171875
                    }
                },
                "velocity": {
                    "x": -0.5737594962120056,
                    "y": 0.00353516754694283,
                    "z": 0.0033930109348148108
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.072460174560547,
                "transform": {
                    "location": {
                        "x": 579.2738647460938,
                        "y": 4287.59130859375,
                        "z": 370.29840087890625
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.25859779119491577,
                        "yaw": 179.6513214111328
                    }
                },
                "velocity": {
                    "x": -8.07224178314209,
                    "y": 0.0492405965924263,
                    "z": 0.03309723734855652
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0108642578125,
                "transform": {
                    "location": {
                        "x": 557.2266845703125,
                        "y": 4287.72216796875,
                        "z": 370.42315673828125
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.21222762763500214,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -8.010665893554688,
                    "y": 0.047729749232530594,
                    "z": 0.03004450723528862
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.448171615600586,
                "transform": {
                    "location": {
                        "x": 626.3442993164062,
                        "y": 4290.56494140625,
                        "z": 370.08905029296875
                    },
                    "rotation": {
                        "roll": 0.00023423635866492987,
                        "pitch": 0.22676226496696472,
                        "yaw": 179.66384887695312
                    }
                },
                "velocity": {
                    "x": -9.447896957397461,
                    "y": 0.055461134761571884,
                    "z": 0.04596717655658722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.562836647033691,
                "transform": {
                    "location": {
                        "x": 608.2207641601562,
                        "y": 4290.671875,
                        "z": 370.1760559082031
                    },
                    "rotation": {
                        "roll": 0.0004500967916101217,
                        "pitch": 0.2947772741317749,
                        "yaw": 179.6552276611328
                    }
                },
                "velocity": {
                    "x": -9.562556266784668,
                    "y": 0.05752464011311531,
                    "z": 0.045230500400066376
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008267402648926,
                "transform": {
                    "location": {
                        "x": 588.173095703125,
                        "y": 4290.78759765625,
                        "z": 370.2989807128906
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.2529218792915344,
                        "yaw": 179.64532470703125
                    }
                },
                "velocity": {
                    "x": -8.008030891418457,
                    "y": 0.04956338182091713,
                    "z": 0.03644747659564018
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023124694824219,
                "transform": {
                    "location": {
                        "x": 569.8231811523438,
                        "y": 4290.89599609375,
                        "z": 370.3340148925781
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": 0.22571724653244019,
                        "yaw": 179.6436309814453
                    }
                },
                "velocity": {
                    "x": -8.022902488708496,
                    "y": 0.04984842240810394,
                    "z": 0.03279498964548111
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13551630079746246,
        "expert_target_speed": 8.332485202275006,
        "target_point": [
            16.95647597599232,
            -0.24273197950302491
        ],
        "target_point_next": [
            22.95395556694843,
            -0.416064780276801
        ]
    },
    "380": {
        "acceleration": [
            -0.2026081085205078,
            0.06056278944015503,
            0.010279864072799683
        ],
        "angular_velocity": [
            0.11594600230455399,
            0.16319866478443146,
            2.2921416759490967
        ],
        "forward_vector": [
            -0.9997513294219971,
            -0.021870005875825882,
            0.004353032447397709
        ],
        "right_vector": [
            0.02186937816441059,
            -0.9997608065605164,
            -0.00019163504475727677
        ],
        "location": [
            594.5064697265625,
            4287.79443359375,
            370.2322082519531
        ],
        "rotation": [
            0.01097998395562172,
            0.2494111806154251,
            -178.746826171875
        ],
        "velocity": [
            -7.977700233459473,
            -0.16655391454696655,
            0.03719988837838173
        ],
        "speed": 7.979438653275695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.250001907348633,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                577.2576904296875,
                4287.60302734375,
                370.30682373046875
            ],
            "velocity": [
                -8.023158073425293,
                0.04932960867881775,
                0.032875336706638336
            ],
            "speed_kmh": 28.88415746586979,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7391839027404785,
                "transform": {
                    "location": {
                        "x": 581.1348876953125,
                        "y": 4297.50048828125,
                        "z": 370.2878723144531
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -0.20761041343212128,
                        "yaw": 0.10863432288169861
                    }
                },
                "velocity": {
                    "x": 6.739120960235596,
                    "y": 0.004880398511886597,
                    "z": -0.028685830533504486
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.247946739196777,
                "transform": {
                    "location": {
                        "x": 584.7159423828125,
                        "y": 4294.24609375,
                        "z": 370.27459716796875
                    },
                    "rotation": {
                        "roll": 0.0004644232976716012,
                        "pitch": -0.2335241585969925,
                        "yaw": -0.1401672065258026
                    }
                },
                "velocity": {
                    "x": 8.247840881347656,
                    "y": -0.024784335866570473,
                    "z": -0.03344964608550072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.311687469482422,
                "transform": {
                    "location": {
                        "x": 637.2546997070312,
                        "y": 4297.201171875,
                        "z": 370.0227966308594
                    },
                    "rotation": {
                        "roll": 6.880560977151617e-05,
                        "pitch": -0.2947704493999481,
                        "yaw": -0.2063903510570526
                    }
                },
                "velocity": {
                    "x": 8.31143856048584,
                    "y": -0.04674903675913811,
                    "z": -0.04431115463376045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077994346618652,
                "transform": {
                    "location": {
                        "x": 638.4511108398438,
                        "y": 4293.94482421875,
                        "z": 370.02777099609375
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": -0.2987046539783478,
                        "yaw": -0.33819580078125
                    }
                },
                "velocity": {
                    "x": 8.077738761901855,
                    "y": -0.04955475777387619,
                    "z": -0.04089776799082756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.012759021483361721,
                "transform": {
                    "location": {
                        "x": 663.188720703125,
                        "y": 4287.09716796875,
                        "z": 369.88677978515625
                    },
                    "rotation": {
                        "roll": 0.0005202016909606755,
                        "pitch": 0.3079458773136139,
                        "yaw": 179.91851806640625
                    }
                },
                "velocity": {
                    "x": 0.012747676111757755,
                    "y": -8.60678410390392e-05,
                    "z": 0.0005310153937898576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001313297892920673,
                "transform": {
                    "location": {
                        "x": 652.8185424804688,
                        "y": 4287.15771484375,
                        "z": 369.9522705078125
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": 0.2578054666519165,
                        "yaw": 179.626220703125
                    }
                },
                "velocity": {
                    "x": -0.001063615083694458,
                    "y": 8.874975173966959e-05,
                    "z": -0.0007652436033822596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023377418518066,
                "transform": {
                    "location": {
                        "x": 577.2576904296875,
                        "y": 4287.60302734375,
                        "z": 370.30682373046875
                    },
                    "rotation": {
                        "roll": 0.0006436576368287206,
                        "pitch": 0.24698646366596222,
                        "yaw": 179.64749145507812
                    }
                },
                "velocity": {
                    "x": -8.023158073425293,
                    "y": 0.04932960867881775,
                    "z": 0.032875336706638336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042387008666992,
                "transform": {
                    "location": {
                        "x": 555.2196655273438,
                        "y": 4287.73388671875,
                        "z": 370.4305419921875
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.2124803364276886,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -8.042191505432129,
                    "y": 0.04795188456773758,
                    "z": 0.02911379747092724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.3646821975708,
                "transform": {
                    "location": {
                        "x": 623.9424438476562,
                        "y": 4290.57861328125,
                        "z": 370.1004333496094
                    },
                    "rotation": {
                        "roll": 0.0010409281821921468,
                        "pitch": 0.2722718119621277,
                        "yaw": 179.66383361816406
                    }
                },
                "velocity": {
                    "x": -9.364401817321777,
                    "y": 0.054890602827072144,
                    "z": 0.04720597341656685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.6384859085083,
                "transform": {
                    "location": {
                        "x": 605.9774169921875,
                        "y": 4290.685546875,
                        "z": 370.1861267089844
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.35813412070274353,
                        "yaw": 179.65457153320312
                    }
                },
                "velocity": {
                    "x": -8.638233184814453,
                    "y": 0.05198560655117035,
                    "z": 0.04076453298330307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044811248779297,
                "transform": {
                    "location": {
                        "x": 586.1663818359375,
                        "y": 4290.79931640625,
                        "z": 370.3077392578125
                    },
                    "rotation": {
                        "roll": 0.0009296949137933552,
                        "pitch": 0.24970486760139465,
                        "yaw": 179.6453094482422
                    }
                },
                "velocity": {
                    "x": -8.044588088989258,
                    "y": 0.04986317455768585,
                    "z": 0.03327247500419617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991887092590332,
                "transform": {
                    "location": {
                        "x": 567.8214111328125,
                        "y": 4290.90771484375,
                        "z": 370.3419189453125
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": 0.22251388430595398,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -7.9916672706604,
                    "y": 0.049750447273254395,
                    "z": 0.032202672213315964
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09413038194179535,
        "expert_target_speed": 8.349610961427183,
        "target_point": [
            14.966202545395777,
            -0.224341829716516
        ],
        "target_point_next": [
            20.963865844044623,
            -0.3911970358080852
        ]
    },
    "385": {
        "acceleration": [
            -0.2950477600097656,
            0.07721006870269775,
            -0.0014932453632354736
        ],
        "angular_velocity": [
            0.03587782755494118,
            0.060013558715581894,
            -3.2624688148498535
        ],
        "forward_vector": [
            -0.9998026490211487,
            -0.019263191148638725,
            0.004856686107814312
        ],
        "right_vector": [
            0.019261276349425316,
            -0.9998143911361694,
            -0.00044079773942939937
        ],
        "location": [
            592.503662109375,
            4287.75439453125,
            370.24114990234375
        ],
        "rotation": [
            0.025256149470806122,
            0.2782687246799469,
            -178.89622497558594
        ],
        "velocity": [
            -8.043478012084961,
            -0.14796662330627441,
            0.036632079631090164
        ],
        "speed": 8.04483888294271,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.247182846069336,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                575.2572021484375,
                4287.61474609375,
                370.31500244140625
            ],
            "velocity": [
                -8.009810447692871,
                0.04928833991289139,
                0.03358231484889984
            ],
            "speed_kmh": 28.836116970614864,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.675225734710693,
                "transform": {
                    "location": {
                        "x": 582.9635620117188,
                        "y": 4297.50048828125,
                        "z": 370.2801513671875
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": -0.20922917127609253,
                        "yaw": 0.0011582421138882637
                    }
                },
                "velocity": {
                    "x": 7.675143241882324,
                    "y": -0.013700265437364578,
                    "z": -0.032867446541786194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.127495765686035,
                "transform": {
                    "location": {
                        "x": 586.7648315429688,
                        "y": 4294.23974609375,
                        "z": 370.2659606933594
                    },
                    "rotation": {
                        "roll": 0.0003645586548373103,
                        "pitch": -0.25167879462242126,
                        "yaw": -0.2015381008386612
                    }
                },
                "velocity": {
                    "x": 8.127351760864258,
                    "y": -0.03225376456975937,
                    "z": -0.036033377051353455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.102255821228027,
                "transform": {
                    "location": {
                        "x": 639.2996215820312,
                        "y": 4297.1884765625,
                        "z": 370.01220703125
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.31112876534461975,
                        "yaw": -0.1079711839556694
                    }
                },
                "velocity": {
                    "x": 8.102028846740723,
                    "y": -0.04391644522547722,
                    "z": -0.04191180691123009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.079155921936035,
                "transform": {
                    "location": {
                        "x": 640.4705810546875,
                        "y": 4293.93310546875,
                        "z": 370.0172424316406
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.30300766229629517,
                        "yaw": -0.3570556044578552
                    }
                },
                "velocity": {
                    "x": 8.07890510559082,
                    "y": -0.04839147999882698,
                    "z": -0.0412958487868309
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1610717773438,
                        "y": 4287.09716796875,
                        "z": 369.8869934082031
                    },
                    "rotation": {
                        "roll": 0.0012155920267105103,
                        "pitch": 0.30959880352020264,
                        "yaw": 179.90550231933594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016275233356282115,
                "transform": {
                    "location": {
                        "x": 652.8145141601562,
                        "y": 4287.15771484375,
                        "z": 369.9521789550781
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": 0.2685151994228363,
                        "yaw": 179.6260223388672
                    }
                },
                "velocity": {
                    "x": 0.0004641002742573619,
                    "y": 2.5463734345976263e-05,
                    "z": -0.0015597419114783406
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010032653808594,
                "transform": {
                    "location": {
                        "x": 575.2572021484375,
                        "y": 4287.61474609375,
                        "z": 370.31500244140625
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.22839468717575073,
                        "yaw": 179.64720153808594
                    }
                },
                "velocity": {
                    "x": -8.009810447692871,
                    "y": 0.04928833991289139,
                    "z": 0.03358231484889984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008344650268555,
                "transform": {
                    "location": {
                        "x": 553.2136840820312,
                        "y": 4287.74560546875,
                        "z": 370.43792724609375
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.21240520477294922,
                        "yaw": 179.6571807861328
                    }
                },
                "velocity": {
                    "x": -8.008139610290527,
                    "y": 0.04924270510673523,
                    "z": 0.0291900634765625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.710908889770508,
                "transform": {
                    "location": {
                        "x": 621.7216796875,
                        "y": 4290.59228515625,
                        "z": 370.11090087890625
                    },
                    "rotation": {
                        "roll": 0.0005718309548683465,
                        "pitch": 0.3413933217525482,
                        "yaw": 179.66343688964844
                    }
                },
                "velocity": {
                    "x": -8.71064567565918,
                    "y": 0.051144346594810486,
                    "z": 0.04426164552569389
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.00965690612793,
                "transform": {
                    "location": {
                        "x": 603.788330078125,
                        "y": 4290.69873046875,
                        "z": 370.1974182128906
                    },
                    "rotation": {
                        "roll": 0.0006340421969071031,
                        "pitch": 0.25099578499794006,
                        "yaw": 179.65829467773438
                    }
                },
                "velocity": {
                    "x": -9.0093994140625,
                    "y": 0.05372753366827965,
                    "z": 0.04181356355547905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007206916809082,
                "transform": {
                    "location": {
                        "x": 584.1602783203125,
                        "y": 4290.81103515625,
                        "z": 370.31634521484375
                    },
                    "rotation": {
                        "roll": 0.0004338799917604774,
                        "pitch": 0.24607804417610168,
                        "yaw": 179.64532470703125
                    }
                },
                "velocity": {
                    "x": -8.006983757019043,
                    "y": 0.04958951845765114,
                    "z": 0.03334231302142143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023615837097168,
                "transform": {
                    "location": {
                        "x": 565.8192749023438,
                        "y": 4290.91943359375,
                        "z": 370.3497314453125
                    },
                    "rotation": {
                        "roll": 0.00044538467773236334,
                        "pitch": 0.22334034740924835,
                        "yaw": 179.64186096191406
                    }
                },
                "velocity": {
                    "x": -8.023402214050293,
                    "y": 0.050266630947589874,
                    "z": 0.03002166748046875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56394,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05376262590289116,
        "expert_target_speed": 8.395866927145716,
        "target_point": [
            12.963529337586264,
            -0.18676956088761099
        ],
        "target_point_next": [
            18.961607298127813,
            -0.33798623663781197
        ]
    },
    "390": {
        "acceleration": [
            -0.31993865966796875,
            0.08418232202529907,
            0.0011812150478363037
        ],
        "angular_velocity": [
            0.056986577808856964,
            0.008879418484866619,
            2.0542891025543213
        ],
        "forward_vector": [
            -0.9998407363891602,
            -0.01713448017835617,
            0.004994251765310764
        ],
        "right_vector": [
            0.017131833359599113,
            -0.9998530745506287,
            -0.0005721627967432141
        ],
        "location": [
            590.4830932617188,
            4287.7197265625,
            370.2501220703125
        ],
        "rotation": [
            0.03278292343020439,
            0.2861507534980774,
            -179.01820373535156
        ],
        "velocity": [
            -8.119688987731934,
            -0.12771639227867126,
            0.036954641342163086
        ],
        "speed": 8.120693365369235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.23380470275879,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                573.2496948242188,
                4287.62646484375,
                370.3230895996094
            ],
            "velocity": [
                -8.038959503173828,
                0.04943004623055458,
                0.03259001672267914
            ],
            "speed_kmh": 28.94103910206034,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.716095924377441,
                "transform": {
                    "location": {
                        "x": 585.0225830078125,
                        "y": 4297.49658203125,
                        "z": 370.2712097167969
                    },
                    "rotation": {
                        "roll": 0.0002558260748628527,
                        "pitch": -0.2085256576538086,
                        "yaw": -0.15252685546875
                    }
                },
                "velocity": {
                    "x": 8.715978622436523,
                    "y": -0.026131821796298027,
                    "z": -0.03689324110746384
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.008354187011719,
                "transform": {
                    "location": {
                        "x": 588.7776489257812,
                        "y": 4294.23095703125,
                        "z": 370.25714111328125
                    },
                    "rotation": {
                        "roll": 0.00028817064594477415,
                        "pitch": -0.25533977150917053,
                        "yaw": -0.25665283203125
                    }
                },
                "velocity": {
                    "x": 8.008182525634766,
                    "y": -0.03749613091349602,
                    "z": -0.03663594275712967
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.860505104064941,
                "transform": {
                    "location": {
                        "x": 641.2035522460938,
                        "y": 4297.1787109375,
                        "z": 370.0025939941406
                    },
                    "rotation": {
                        "roll": 1.0464795195730403e-05,
                        "pitch": -0.3365165591239929,
                        "yaw": -0.201751708984375
                    }
                },
                "velocity": {
                    "x": 6.86030387878418,
                    "y": -0.03787052258849144,
                    "z": -0.036360688507556915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077468872070312,
                "transform": {
                    "location": {
                        "x": 642.4901123046875,
                        "y": 4293.92138671875,
                        "z": 370.0067138671875
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.3022836744785309,
                        "yaw": -0.3300475776195526
                    }
                },
                "velocity": {
                    "x": 8.077223777770996,
                    "y": -0.04762250930070877,
                    "z": -0.041190020740032196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1610717773438,
                        "y": 4287.09716796875,
                        "z": 369.8869934082031
                    },
                    "rotation": {
                        "roll": 0.0012155920267105103,
                        "pitch": 0.30959880352020264,
                        "yaw": 179.90550231933594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007004844956099987,
                "transform": {
                    "location": {
                        "x": 652.8141479492188,
                        "y": 4287.15771484375,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": -0.0015869135968387127,
                        "pitch": 0.31181859970092773,
                        "yaw": 179.6258087158203
                    }
                },
                "velocity": {
                    "x": 0.006713574752211571,
                    "y": -4.7087629354791716e-05,
                    "z": -0.0019983863458037376
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039176940917969,
                "transform": {
                    "location": {
                        "x": 573.2496948242188,
                        "y": 4287.62646484375,
                        "z": 370.3230895996094
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.2438172549009323,
                        "yaw": 179.64720153808594
                    }
                },
                "velocity": {
                    "x": -8.038959503173828,
                    "y": 0.04943004623055458,
                    "z": 0.03259001672267914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045296669006348,
                "transform": {
                    "location": {
                        "x": 551.2068481445312,
                        "y": 4287.75732421875,
                        "z": 370.4453125
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": 0.2130882292985916,
                        "yaw": 179.65200805664062
                    }
                },
                "velocity": {
                    "x": -8.045093536376953,
                    "y": 0.048878807574510574,
                    "z": 0.029526595026254654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.793364524841309,
                "transform": {
                    "location": {
                        "x": 619.8948974609375,
                        "y": 4290.6025390625,
                        "z": 370.11920166015625
                    },
                    "rotation": {
                        "roll": -0.00021362293045967817,
                        "pitch": 0.41440120339393616,
                        "yaw": 179.66346740722656
                    }
                },
                "velocity": {
                    "x": -6.7931671142578125,
                    "y": 0.039941634982824326,
                    "z": 0.03303198888897896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.059617042541504,
                "transform": {
                    "location": {
                        "x": 601.5153198242188,
                        "y": 4290.712890625,
                        "z": 370.2079162597656
                    },
                    "rotation": {
                        "roll": 0.0012946613132953644,
                        "pitch": 0.260913223028183,
                        "yaw": 179.65870666503906
                    }
                },
                "velocity": {
                    "x": -9.05936050415039,
                    "y": 0.05394245684146881,
                    "z": 0.04157545790076256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045670509338379,
                "transform": {
                    "location": {
                        "x": 582.1536254882812,
                        "y": 4290.822265625,
                        "z": 370.3249206542969
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.24751920998096466,
                        "yaw": 179.64520263671875
                    }
                },
                "velocity": {
                    "x": -8.045445442199707,
                    "y": 0.0497666634619236,
                    "z": 0.033733710646629333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991497039794922,
                "transform": {
                    "location": {
                        "x": 563.8175048828125,
                        "y": 4290.93115234375,
                        "z": 370.3573303222656
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.21709755063056946,
                        "yaw": 179.64077758789062
                    }
                },
                "velocity": {
                    "x": -7.991286277770996,
                    "y": 0.05009174719452858,
                    "z": 0.029295815154910088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022349413484334946,
        "expert_target_speed": 8.450372946216444,
        "target_point": [
            10.94303136888124,
            -0.15920964367432258
        ],
        "target_point_next": [
            16.941417686706878,
            -0.29765561104557003
        ]
    },
    "395": {
        "acceleration": [
            -0.3326416015625,
            0.08179515600204468,
            -0.009250268340110779
        ],
        "angular_velocity": [
            -0.012100953608751297,
            0.01732516475021839,
            -3.2357370853424072
        ],
        "forward_vector": [
            -0.9998884797096252,
            -0.014035924337804317,
            0.0050942678935825825
        ],
        "right_vector": [
            0.014032965525984764,
            -0.9999013543128967,
            -0.0006160925258882344
        ],
        "location": [
            588.4424438476562,
            4287.68994140625,
            370.2590637207031
        ],
        "rotation": [
            0.035299964249134064,
            0.2918812930583954,
            -179.19577026367188
        ],
        "velocity": [
            -8.202714920043945,
            -0.107473224401474,
            0.03684433922171593
        ],
        "speed": 8.203418955135401,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.201400756835938,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                571.2412719726562,
                4287.63818359375,
                370.33111572265625
            ],
            "velocity": [
                -8.025191307067871,
                0.049879040569067,
                0.03298170119524002
            ],
            "speed_kmh": 28.891490703896896,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.29702091217041,
                "transform": {
                    "location": {
                        "x": 587.1461181640625,
                        "y": 4297.49072265625,
                        "z": 370.2624816894531
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": -0.25625503063201904,
                        "yaw": -0.240509033203125
                    }
                },
                "velocity": {
                    "x": 8.296869277954102,
                    "y": -0.033804330974817276,
                    "z": -0.03691086173057556
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071322441101074,
                "transform": {
                    "location": {
                        "x": 590.7870483398438,
                        "y": 4294.2216796875,
                        "z": 370.2481994628906
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.25198614597320557,
                        "yaw": -0.2765197455883026
                    }
                },
                "velocity": {
                    "x": 8.071145057678223,
                    "y": -0.038692593574523926,
                    "z": -0.036982763558626175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.795146465301514,
                "transform": {
                    "location": {
                        "x": 642.8848876953125,
                        "y": 4297.16943359375,
                        "z": 369.9935607910156
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.3127748370170593,
                        "yaw": -0.283203125
                    }
                },
                "velocity": {
                    "x": 6.794931888580322,
                    "y": -0.039562128484249115,
                    "z": -0.036768097430467606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077352523803711,
                "transform": {
                    "location": {
                        "x": 644.5096435546875,
                        "y": 4293.90966796875,
                        "z": 369.9961242675781
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.301908016204834,
                        "yaw": -0.354644775390625
                    }
                },
                "velocity": {
                    "x": 8.077104568481445,
                    "y": -0.048267662525177,
                    "z": -0.041026271879673004
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1610717773438,
                        "y": 4287.09716796875,
                        "z": 369.8869934082031
                    },
                    "rotation": {
                        "roll": 0.0012155920267105103,
                        "pitch": 0.30959880352020264,
                        "yaw": 179.90550231933594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008556914515793324,
                "transform": {
                    "location": {
                        "x": 652.8154907226562,
                        "y": 4287.15771484375,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": -0.0014343262882903218,
                        "pitch": 0.30996763706207275,
                        "yaw": 179.626220703125
                    }
                },
                "velocity": {
                    "x": -0.008554119616746902,
                    "y": -8.4081199247521e-07,
                    "z": 0.00021869658667128533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02541446685791,
                "transform": {
                    "location": {
                        "x": 571.2412719726562,
                        "y": 4287.63818359375,
                        "z": 370.33111572265625
                    },
                    "rotation": {
                        "roll": 0.0010444321669638157,
                        "pitch": 0.2327728271484375,
                        "yaw": 179.64414978027344
                    }
                },
                "velocity": {
                    "x": -8.025191307067871,
                    "y": 0.049879040569067,
                    "z": 0.03298170119524002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007354736328125,
                "transform": {
                    "location": {
                        "x": 549.2005615234375,
                        "y": 4287.7685546875,
                        "z": 370.4526062011719
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.20687276124954224,
                        "yaw": 179.64828491210938
                    }
                },
                "velocity": {
                    "x": -8.007148742675781,
                    "y": 0.04933331534266472,
                    "z": 0.029388580471277237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.1642022132873535,
                "transform": {
                    "location": {
                        "x": 618.1705322265625,
                        "y": 4290.6123046875,
                        "z": 370.1287536621094
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.2702159285545349,
                        "yaw": 179.6632537841797
                    }
                },
                "velocity": {
                    "x": -7.163995742797852,
                    "y": 0.04209257662296295,
                    "z": 0.03444525599479675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.735748291015625,
                "transform": {
                    "location": {
                        "x": 599.2559204101562,
                        "y": 4290.72607421875,
                        "z": 370.2182312011719
                    },
                    "rotation": {
                        "roll": 0.0011346418177708983,
                        "pitch": 0.2879197895526886,
                        "yaw": 179.66397094726562
                    }
                },
                "velocity": {
                    "x": -8.735516548156738,
                    "y": 0.049356136471033096,
                    "z": 0.040154799818992615
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00740909576416,
                "transform": {
                    "location": {
                        "x": 580.1471557617188,
                        "y": 4290.83447265625,
                        "z": 370.3333435058594
                    },
                    "rotation": {
                        "roll": 0.0008863157127052546,
                        "pitch": 0.24118763208389282,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -8.00717544555664,
                    "y": 0.05122891813516617,
                    "z": 0.03346392512321472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023628234863281,
                "transform": {
                    "location": {
                        "x": 561.8154296875,
                        "y": 4290.943359375,
                        "z": 370.3648681640625
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": 0.21481627225875854,
                        "yaw": 179.63880920410156
                    }
                },
                "velocity": {
                    "x": -8.023415565490723,
                    "y": 0.050701241940259933,
                    "z": 0.028908442705869675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0022840145975351334,
        "expert_target_speed": 8.50688881961868,
        "target_point": [
            8.902605751650146,
            -0.12643611127422544
        ],
        "target_point_next": [
            14.901392304978728,
            -0.24629265620764587
        ]
    },
    "400": {
        "acceleration": [
            -0.3193092346191406,
            0.08460521697998047,
            -0.0003847479820251465
        ],
        "angular_velocity": [
            0.03532877936959267,
            0.013492987491190434,
            1.9819986820220947
        ],
        "forward_vector": [
            -0.999917209148407,
            -0.011822184547781944,
            0.0050915260799229145
        ],
        "right_vector": [
            0.011819079518318176,
            -0.9999300241470337,
            -0.0006395403179340065
        ],
        "location": [
            586.3809814453125,
            4287.6650390625,
            370.2680358886719
        ],
        "rotation": [
            0.036643438041210175,
            0.29172420501708984,
            -179.32261657714844
        ],
        "velocity": [
            -8.284911155700684,
            -0.08655627071857452,
            0.03684157133102417
        ],
        "speed": 8.285363289913988,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.143953323364258,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                569.2371826171875,
                4287.64990234375,
                370.3390197753906
            ],
            "velocity": [
                -8.016797065734863,
                0.049927640706300735,
                0.03285079076886177
            ],
            "speed_kmh": 28.861271428935474,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.04262638092041,
                "transform": {
                    "location": {
                        "x": 589.1793823242188,
                        "y": 4297.4814453125,
                        "z": 370.2535400390625
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": -0.26174649596214294,
                        "yaw": -0.2953490614891052
                    }
                },
                "velocity": {
                    "x": 8.042451858520508,
                    "y": -0.03874805569648743,
                    "z": -0.03610404580831528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055929183959961,
                "transform": {
                    "location": {
                        "x": 592.8037109375,
                        "y": 4294.2119140625,
                        "z": 370.23919677734375
                    },
                    "rotation": {
                        "roll": 1.6049010810093023e-05,
                        "pitch": -0.25860461592674255,
                        "yaw": -0.2904662787914276
                    }
                },
                "velocity": {
                    "x": 8.055731773376465,
                    "y": -0.042829640209674835,
                    "z": -0.03683888912200928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.653932571411133,
                "transform": {
                    "location": {
                        "x": 644.6845092773438,
                        "y": 4297.15966796875,
                        "z": 369.9837341308594
                    },
                    "rotation": {
                        "roll": 0.0007074293098412454,
                        "pitch": -0.2767660915851593,
                        "yaw": -0.3233336806297302
                    }
                },
                "velocity": {
                    "x": 7.65369987487793,
                    "y": -0.045640647411346436,
                    "z": -0.038518309593200684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078685760498047,
                "transform": {
                    "location": {
                        "x": 646.5291748046875,
                        "y": 4293.89794921875,
                        "z": 369.9855041503906
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.3031920790672302,
                        "yaw": -0.3343506157398224
                    }
                },
                "velocity": {
                    "x": 8.07843017578125,
                    "y": -0.04918535426259041,
                    "z": -0.04136665165424347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3290405273438,
                        "y": 4287.14404296875,
                        "z": 369.8938293457031
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.47624850273132324,
                "transform": {
                    "location": {
                        "x": 652.7731323242188,
                        "y": 4287.158203125,
                        "z": 369.9513854980469
                    },
                    "rotation": {
                        "roll": -0.0017089840257540345,
                        "pitch": 0.39196404814720154,
                        "yaw": 179.63803100585938
                    }
                },
                "velocity": {
                    "x": -0.47623804211616516,
                    "y": 0.0022868847008794546,
                    "z": 0.002178354188799858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017020225524902,
                "transform": {
                    "location": {
                        "x": 569.2371826171875,
                        "y": 4287.64990234375,
                        "z": 370.3390197753906
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.2294260412454605,
                        "yaw": 179.64361572265625
                    }
                },
                "velocity": {
                    "x": -8.016797065734863,
                    "y": 0.049927640706300735,
                    "z": 0.03285079076886177
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04421615600586,
                "transform": {
                    "location": {
                        "x": 547.1940307617188,
                        "y": 4287.78076171875,
                        "z": 370.4597473144531
                    },
                    "rotation": {
                        "roll": -9.155279985861853e-05,
                        "pitch": 0.20437291264533997,
                        "yaw": 179.64732360839844
                    }
                },
                "velocity": {
                    "x": -8.044010162353516,
                    "y": 0.04943203926086426,
                    "z": 0.029456786811351776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.890143871307373,
                "transform": {
                    "location": {
                        "x": 616.310791015625,
                        "y": 4290.6240234375,
                        "z": 370.13800048828125
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": 0.22351109981536865,
                        "yaw": 179.6637725830078
                    }
                },
                "velocity": {
                    "x": -7.889915466308594,
                    "y": 0.04633341729640961,
                    "z": 0.0381462387740612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.5244779586792,
                "transform": {
                    "location": {
                        "x": 597.1326293945312,
                        "y": 4290.73779296875,
                        "z": 370.2279968261719
                    },
                    "rotation": {
                        "roll": 0.0004808136145584285,
                        "pitch": 0.29117095470428467,
                        "yaw": 179.66616821289062
                    }
                },
                "velocity": {
                    "x": -8.524238586425781,
                    "y": 0.049681805074214935,
                    "z": 0.04001331329345703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04301929473877,
                "transform": {
                    "location": {
                        "x": 578.140869140625,
                        "y": 4290.84619140625,
                        "z": 370.3417053222656
                    },
                    "rotation": {
                        "roll": 0.00023773241264279932,
                        "pitch": 0.23835992813110352,
                        "yaw": 179.6414031982422
                    }
                },
                "velocity": {
                    "x": -8.042798042297363,
                    "y": 0.05019765347242355,
                    "z": 0.032312896102666855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.991665363311768,
                "transform": {
                    "location": {
                        "x": 559.8136596679688,
                        "y": 4290.955078125,
                        "z": 370.3723449707031
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": 0.21494604647159576,
                        "yaw": 179.6374969482422
                    }
                },
                "velocity": {
                    "x": -7.991452693939209,
                    "y": 0.05050227418541908,
                    "z": 0.02915366180241108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.026862768456339836,
        "expert_target_speed": 8.56143372845341,
        "target_point": [
            12.840288326699575,
            -0.21383016265490828
        ],
        "target_point_next": [
            12.840288326699575,
            -0.21383016265490828
        ]
    },
    "405": {
        "acceleration": [
            -0.32070159912109375,
            0.0853864848613739,
            -0.014031603932380676
        ],
        "angular_velocity": [
            0.043426722288131714,
            0.007658392656594515,
            -3.202617883682251
        ],
        "forward_vector": [
            -0.9999497532844543,
            -0.008676938712596893,
            0.005020120181143284
        ],
        "right_vector": [
            0.008673729375004768,
            -0.9999620914459229,
            -0.0006606382085010409
        ],
        "location": [
            584.2992553710938,
            4287.64599609375,
            370.2770690917969
        ],
        "rotation": [
            0.03785226121544838,
            0.28763291239738464,
            -179.50283813476562
        ],
        "velocity": [
            -8.3655366897583,
            -0.0650634914636612,
            0.03670885041356087
        ],
        "speed": 8.36578970364506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 17.070341110229492,
        "front_vehicle_info": {
            "id": 56404,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                567.2290649414062,
                4287.66162109375,
                370.34686279296875
            ],
            "velocity": [
                -8.039194107055664,
                0.04991712421178818,
                0.032709673047065735
            ],
            "speed_kmh": 28.941896236885192,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 56557,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.760190963745117,
                "transform": {
                    "location": {
                        "x": 591.0166015625,
                        "y": 4297.4716796875,
                        "z": 370.24560546875
                    },
                    "rotation": {
                        "roll": 0.0007597993826493621,
                        "pitch": -0.2906791865825653,
                        "yaw": -0.3125610053539276
                    }
                },
                "velocity": {
                    "x": 6.760032653808594,
                    "y": -0.03538183122873306,
                    "z": -0.029807060956954956
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56556,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083541870117188,
                "transform": {
                    "location": {
                        "x": 594.8212890625,
                        "y": 4294.20068359375,
                        "z": 370.23004150390625
                    },
                    "rotation": {
                        "roll": 0.000466812402009964,
                        "pitch": -0.26065367460250854,
                        "yaw": -0.3135986328125
                    }
                },
                "velocity": {
                    "x": 8.083327293395996,
                    "y": -0.04566430300474167,
                    "z": -0.037142761051654816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56548,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.699625015258789,
                "transform": {
                    "location": {
                        "x": 646.69189453125,
                        "y": 4297.14697265625,
                        "z": 369.97308349609375
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": -0.26492252945899963,
                        "yaw": -0.3208922743797302
                    }
                },
                "velocity": {
                    "x": 8.699347496032715,
                    "y": -0.05278914421796799,
                    "z": -0.045188192278146744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 56546,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078027725219727,
                "transform": {
                    "location": {
                        "x": 648.5487060546875,
                        "y": 4293.88623046875,
                        "z": 369.9748840332031
                    },
                    "rotation": {
                        "roll": 0.0008525176090188324,
                        "pitch": -0.3070579767227173,
                        "yaw": -0.364532470703125
                    }
                },
                "velocity": {
                    "x": 8.07776927947998,
                    "y": -0.04971170425415039,
                    "z": -0.041279979050159454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56406,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3290405273438,
                        "y": 4287.14404296875,
                        "z": 369.8938293457031
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 56405,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1036525964736938,
                "transform": {
                    "location": {
                        "x": 652.5847778320312,
                        "y": 4287.15966796875,
                        "z": 369.9518127441406
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.45642054080963135,
                        "yaw": 179.6253662109375
                    }
                },
                "velocity": {
                    "x": -1.1036165952682495,
                    "y": 0.007619123440235853,
                    "z": 0.004618282429873943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 56404,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03941535949707,
                "transform": {
                    "location": {
                        "x": 567.2290649414062,
                        "y": 4287.66162109375,
                        "z": 370.34686279296875
                    },
                    "rotation": {
                        "roll": 0.0015401048585772514,
                        "pitch": 0.23141363263130188,
                        "yaw": 179.6437530517578
                    }
                },
                "velocity": {
                    "x": -8.039194107055664,
                    "y": 0.04991712421178818,
                    "z": 0.032709673047065735
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 56403,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008659362792969,
                "transform": {
                    "location": {
                        "x": 545.1876831054688,
                        "y": 4287.79248046875,
                        "z": 370.46685791015625
                    },
                    "rotation": {
                        "roll": 0.0016588331200182438,
                        "pitch": 0.20450951159000397,
                        "yaw": 179.6475372314453
                    }
                },
                "velocity": {
                    "x": -8.00845718383789,
                    "y": 0.049216821789741516,
                    "z": 0.02858007326722145
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56402,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.256832122802734,
                "transform": {
                    "location": {
                        "x": 614.0757446289062,
                        "y": 4290.63720703125,
                        "z": 370.1493225097656
                    },
                    "rotation": {
                        "roll": 0.0003838921547867358,
                        "pitch": 0.15268203616142273,
                        "yaw": 179.66526794433594
                    }
                },
                "velocity": {
                    "x": -9.256564140319824,
                    "y": 0.05428105592727661,
                    "z": 0.04496440663933754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56401,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.964155197143555,
                "transform": {
                    "location": {
                        "x": 594.9331665039062,
                        "y": 4290.7509765625,
                        "z": 370.2386779785156
                    },
                    "rotation": {
                        "roll": 0.0010056983446702361,
                        "pitch": 0.21666724979877472,
                        "yaw": 179.66455078125
                    }
                },
                "velocity": {
                    "x": -8.963919639587402,
                    "y": 0.050764039158821106,
                    "z": 0.0405675508081913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 56400,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011040687561035,
                "transform": {
                    "location": {
                        "x": 576.1342163085938,
                        "y": 4290.85791015625,
                        "z": 370.3499450683594
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 0.23579861223697662,
                        "yaw": 179.64141845703125
                    }
                },
                "velocity": {
                    "x": -8.010818481445312,
                    "y": 0.050176773220300674,
                    "z": 0.03221919760107994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 56399,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.023455619812012,
                "transform": {
                    "location": {
                        "x": 557.8115234375,
                        "y": 4290.96728515625,
                        "z": 370.37982177734375
                    },
                    "rotation": {
                        "roll": 0.001029529725201428,
                        "pitch": 0.21200905740261078,
                        "yaw": 179.63882446289062
                    }
                },
                "velocity": {
                    "x": -8.02324104309082,
                    "y": 0.050671644508838654,
                    "z": 0.029450958594679832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0458778440952301,
        "expert_target_speed": 8.614844051460706,
        "target_point": [
            10.759084415450937,
            -0.1744219788422971
        ],
        "target_point_next": [
            10.759084415450937,
            -0.1744219788422971
        ]
    }
}