{
    "0": {
        "acceleration": [
            -0.002490752376616001,
            6.565107469214126e-05,
            -0.639820396900177
        ],
        "angular_velocity": [
            -0.030199892818927765,
            -0.025803063064813614,
            -2.2501077182823792e-05
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0006368159083649516
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017856307094916701,
            0.00011185274343006313
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.5811767578125
        ],
        "rotation": [
            -0.00640869140625,
            0.03648686781525612,
            90.10230255126953
        ],
        "velocity": [
            -0.00023115308431442827,
            9.58353302848991e-06,
            0.17402879893779755
        ],
        "speed": 0.00023135166412494495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.28335571289062,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6224060058594
            ],
            "velocity": [
                -0.0001230413472512737,
                4.121169695281424e-06,
                -0.009268946014344692
            ],
            "speed_kmh": 0.03337114879963173,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.009269763715565205,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6224060058594
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.021760981529951096,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -0.0001230413472512737,
                    "y": 4.121169695281424e-06,
                    "z": -0.009268946014344692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006647693226113915,
        "expert_target_speed": 1.37148652103043,
        "target_point": [
            50.9995931284083,
            -0.00037728198577807737
        ],
        "target_point_next": [
            101.99967453728068,
            -0.0007554400390697713
        ]
    },
    "5": {
        "acceleration": [
            0.0006719032535329461,
            0.0007474116864614189,
            -0.34810274839401245
        ],
        "angular_velocity": [
            -0.014008373953402042,
            0.007767222821712494,
            5.613913799606962e-06
        ],
        "forward_vector": [
            -0.0017855591140687466,
            0.9999982118606567,
            0.0005556344985961914
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855828627943993,
            4.2077936086570844e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6073303222656
        ],
        "rotation": [
            -0.002410888671875,
            0.031835511326789856,
            90.10230255126953
        ],
        "velocity": [
            -0.00010549367289058864,
            1.6864440112840384e-05,
            0.05491083115339279
        ],
        "speed": 0.00010683316133236018,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000032424926758,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.6227111816406
            ],
            "velocity": [
                -0.00010339960863348097,
                0.00012361881090328097,
                -0.4549667537212372
            ],
            "speed_kmh": 1.6378804161546427,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8856201171875,
                        "y": 5217.841796875,
                        "z": 371.7033996582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3630003035068512,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.5970153808594
                    },
                    "rotation": {
                        "roll": -0.0008850101148709655,
                        "pitch": 0.055638719350099564,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00042103006853722036,
                    "y": 0.0003322268894407898,
                    "z": -0.36299991607666016
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3643333911895752,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.6104736328125
                    },
                    "rotation": {
                        "roll": -0.0002136202238034457,
                        "pitch": 0.04303701967000961,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 6.45358022666187e-06,
                    "y": 0.000287256931187585,
                    "z": -0.36433327198028564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45496678352355957,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.6227111816406
                    },
                    "rotation": {
                        "roll": 0.0003853529051411897,
                        "pitch": 0.01432973612099886,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -0.00010339960863348097,
                    "y": 0.00012361881090328097,
                    "z": -0.4549667537212372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3646962344646454,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.6287841796875
                    },
                    "rotation": {
                        "roll": 0.00033211501431651413,
                        "pitch": 0.012758792378008366,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0005495528457686305,
                    "y": 5.78369690629188e-05,
                    "z": -0.36469581723213196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007715607061982155,
        "expert_target_speed": 1.0659047682918432,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "10": {
        "acceleration": [
            0.00017039172234945,
            0.00020914898777846247,
            -0.0949828177690506
        ],
        "angular_velocity": [
            -0.00931523647159338,
            0.01450766809284687,
            1.420102398697054e-05
        ],
        "forward_vector": [
            -0.0017853208119049668,
            0.9999982714653015,
            0.0005216597928665578
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017853385070338845,
            3.3555796107975766e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6148376464844
        ],
        "rotation": [
            -0.0019226057920604944,
            0.029888905584812164,
            90.102294921875
        ],
        "velocity": [
            0.00011786818504333496,
            2.2085565433371812e-05,
            0.014452542178332806
        ],
        "speed": 0.00011991947817565585,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00002384185791,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.6155700683594
            ],
            "velocity": [
                0.00012773327762261033,
                -3.541889600455761e-05,
                0.09484218060970306
            ],
            "speed_kmh": 0.34143218365946637,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8893432617188,
                        "y": 5215.7587890625,
                        "z": 371.6668701171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044258687645196915,
                "transform": {
                    "location": {
                        "x": 984.079345703125,
                        "y": 5109.44775390625,
                        "z": 371.58935546875
                    },
                    "rotation": {
                        "roll": -0.0009460482397116721,
                        "pitch": 0.055761661380529404,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -1.1095978152297903e-05,
                    "y": -4.436439849087037e-05,
                    "z": 0.044258665293455124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04404785484075546,
                "transform": {
                    "location": {
                        "x": 984.0525512695312,
                        "y": 5124.44775390625,
                        "z": 371.6027526855469
                    },
                    "rotation": {
                        "roll": -9.155390580417588e-05,
                        "pitch": 0.04300286993384361,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -8.990822971099988e-05,
                    "y": -5.085786324343644e-05,
                    "z": 0.04404773190617561
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09484227746725082,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.6155700683594
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.01422728318721056,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00012773327762261033,
                    "y": -3.541889600455761e-05,
                    "z": 0.09484218060970306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.045011021196842194,
                "transform": {
                    "location": {
                        "x": 983.97216796875,
                        "y": 5169.44775390625,
                        "z": 371.62109375
                    },
                    "rotation": {
                        "roll": 8.701945625944063e-05,
                        "pitch": 0.012547057121992111,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": -6.277397187659517e-05,
                    "y": 4.541063390206546e-06,
                    "z": 0.04501097649335861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0015046846820041537,
        "expert_target_speed": 1.0255557957564583,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "15": {
        "acceleration": [
            -0.0010998037178069353,
            0.0005231986870057881,
            -0.02080245316028595
        ],
        "angular_velocity": [
            -0.0017680688761174679,
            -0.03011268563568592,
            -5.795896868221462e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005152224912308156
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.001785569591447711,
            1.9707365936483257e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.61663818359375
        ],
        "rotation": [
            -0.001129148993641138,
            0.029520075768232346,
            90.10230255126953
        ],
        "velocity": [
            -9.823404980124906e-05,
            2.979864348162664e-06,
            0.003541857236996293
        ],
        "speed": 9.827923550724095e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000029563903809,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9989624023438,
                5154.44775390625,
                371.6295471191406
            ],
            "velocity": [
                0.00010445538646308705,
                -6.456456503656227e-06,
                0.020458444952964783
            ],
            "speed_kmh": 0.07365136547065358,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8931884765625,
                        "y": 5213.67529296875,
                        "z": 371.6304626464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.035624384880066,
                "transform": {
                    "location": {
                        "x": 984.0784301757812,
                        "y": 5109.5302734375,
                        "z": 371.5962829589844
                    },
                    "rotation": {
                        "roll": -0.00314329843968153,
                        "pitch": 0.1912316232919693,
                        "yaw": 90.08287048339844
                    }
                },
                "velocity": {
                    "x": -0.010022537782788277,
                    "y": 1.0355035066604614,
                    "z": 0.012241287156939507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1051706075668335,
                "transform": {
                    "location": {
                        "x": 984.0516967773438,
                        "y": 5124.5341796875,
                        "z": 371.60968017578125
                    },
                    "rotation": {
                        "roll": -0.0027465904131531715,
                        "pitch": 0.18337690830230713,
                        "yaw": 90.11483764648438
                    }
                },
                "velocity": {
                    "x": -0.010906663723289967,
                    "y": 1.105042576789856,
                    "z": 0.012812747620046139
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020458713173866272,
                "transform": {
                    "location": {
                        "x": 983.9989624023438,
                        "y": 5154.44775390625,
                        "z": 371.6295471191406
                    },
                    "rotation": {
                        "roll": -0.0001831052650231868,
                        "pitch": 0.014158980920910835,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.00010445538646308705,
                    "y": -6.456456503656227e-06,
                    "z": 0.020458444952964783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1371922492980957,
                "transform": {
                    "location": {
                        "x": 983.9713134765625,
                        "y": 5169.53515625,
                        "z": 371.6279296875
                    },
                    "rotation": {
                        "roll": -0.003173834877088666,
                        "pitch": 0.15634985268115997,
                        "yaw": 90.13375091552734
                    }
                },
                "velocity": {
                    "x": -0.01123917568475008,
                    "y": 1.1370662450790405,
                    "z": 0.012660283595323563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002347599947825074,
        "expert_target_speed": 1.014746712716244,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "20": {
        "acceleration": [
            0.0006254523759707808,
            -0.00048375403275713325,
            0.006295354105532169
        ],
        "angular_velocity": [
            0.00810463447123766,
            0.0070869880728423595,
            6.5725935201044194e-06
        ],
        "forward_vector": [
            -0.0017855592304840684,
            0.9999982714653015,
            0.0005155801773071289
        ],
        "right_vector": [
            -0.9999983906745911,
            -0.0017855693586170673,
            1.917476583912503e-05
        ],
        "location": [
            984.0258178710938,
            5139.44775390625,
            371.6169128417969
        ],
        "rotation": [
            -0.0010986332781612873,
            0.029540566727519035,
            90.10230255126953
        ],
        "velocity": [
            3.0522125598508865e-05,
            -2.824267721734941e-05,
            0.0017518459353595972
        ],
        "speed": 4.158423941175956e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.22757625579834,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9957885742188,
                5154.67529296875,
                371.6325378417969
            ],
            "velocity": [
                -0.029216300696134567,
                2.1864964962005615,
                0.00014827727864030749
            ],
            "speed_kmh": 7.872090079879909,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8967895507812,
                        "y": 5211.59228515625,
                        "z": 371.6297302246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.197993516921997,
                "transform": {
                    "location": {
                        "x": 984.0740966796875,
                        "y": 5109.953125,
                        "z": 371.59808349609375
                    },
                    "rotation": {
                        "roll": -0.003936781547963619,
                        "pitch": 0.2293918877840042,
                        "yaw": 90.23583984375
                    }
                },
                "velocity": {
                    "x": -0.02197243645787239,
                    "y": 2.1978774070739746,
                    "z": 0.005260028876364231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1974375247955322,
                "transform": {
                    "location": {
                        "x": 984.0477905273438,
                        "y": 5124.962890625,
                        "z": 371.6114501953125
                    },
                    "rotation": {
                        "roll": -0.00259400880895555,
                        "pitch": 0.21324531733989716,
                        "yaw": 90.19145202636719
                    }
                },
                "velocity": {
                    "x": -0.021024901419878006,
                    "y": 2.1973330974578857,
                    "z": 0.004165343940258026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1866917610168457,
                "transform": {
                    "location": {
                        "x": 983.9957885742188,
                        "y": 5154.67529296875,
                        "z": 371.6325378417969
                    },
                    "rotation": {
                        "roll": 0.005332714878022671,
                        "pitch": -0.17562463879585266,
                        "yaw": 90.1111831665039
                    }
                },
                "velocity": {
                    "x": -0.029216300696134567,
                    "y": 2.1864964962005615,
                    "z": 0.00014827727864030749
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.207423210144043,
                "transform": {
                    "location": {
                        "x": 983.9671020507812,
                        "y": 5169.9541015625,
                        "z": 371.62945556640625
                    },
                    "rotation": {
                        "roll": -0.0043945228680968285,
                        "pitch": 0.18664173781871796,
                        "yaw": 90.27738189697266
                    }
                },
                "velocity": {
                    "x": -0.02282779850065708,
                    "y": 2.2073044776916504,
                    "z": 0.0017955112271010876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -4.91553291794844e-05,
        "expert_target_speed": 1.0260298770181366,
        "target_point": [
            50.99959311259133,
            0.0013250130880965855
        ],
        "target_point_next": [
            101.99967450567571,
            0.002649166406798853
        ]
    },
    "25": {
        "acceleration": [
            0.03371962904930115,
            5.778719902038574,
            -0.010407065972685814
        ],
        "angular_velocity": [
            1.7876871824264526,
            -0.0669456347823143,
            -0.45357245206832886
        ],
        "forward_vector": [
            -0.001953636296093464,
            0.9999940395355225,
            0.0028520782943814993
        ],
        "right_vector": [
            -0.9999980926513672,
            -0.0019536130130290985,
            -1.0905787348747253e-05
        ],
        "location": [
            984.0258178710938,
            5139.48388671875,
            371.6166076660156
        ],
        "rotation": [
            0.0006248581339605153,
            0.16341227293014526,
            90.1119384765625
        ],
        "velocity": [
            0.0010747761698439717,
            0.6358715295791626,
            0.0014599418500438333
        ],
        "speed": 0.6358724378939216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.898979187011719,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.988037109375,
                5155.3828125,
                371.63214111328125
            ],
            "velocity": [
                -0.04437536746263504,
                3.355905771255493,
                -0.0012118148151785135
            ],
            "speed_kmh": 12.08231771917663,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9005126953125,
                        "y": 5209.5087890625,
                        "z": 371.6286926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7448296546936035,
                "transform": {
                    "location": {
                        "x": 984.0662231445312,
                        "y": 5110.69482421875,
                        "z": 371.59912109375
                    },
                    "rotation": {
                        "roll": -0.00457764370366931,
                        "pitch": 0.28432026505470276,
                        "yaw": 90.41204833984375
                    }
                },
                "velocity": {
                    "x": -0.0406179316341877,
                    "y": 3.744607448577881,
                    "z": 0.003693551989272237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.705198287963867,
                "transform": {
                    "location": {
                        "x": 984.0401611328125,
                        "y": 5125.6943359375,
                        "z": 371.6123046875
                    },
                    "rotation": {
                        "roll": -0.004699712619185448,
                        "pitch": 0.26266175508499146,
                        "yaw": 90.37889862060547
                    }
                },
                "velocity": {
                    "x": -0.03969213366508484,
                    "y": 3.704984426498413,
                    "z": 0.0031441401224583387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3561995029449463,
                "transform": {
                    "location": {
                        "x": 983.988037109375,
                        "y": 5155.3828125,
                        "z": 371.63214111328125
                    },
                    "rotation": {
                        "roll": 0.0031267807353287935,
                        "pitch": -0.13208219408988953,
                        "yaw": 90.30339813232422
                    }
                },
                "velocity": {
                    "x": -0.04437536746263504,
                    "y": 3.355905771255493,
                    "z": -0.0012118148151785135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.754624843597412,
                "transform": {
                    "location": {
                        "x": 983.9588012695312,
                        "y": 5170.703125,
                        "z": 371.62982177734375
                    },
                    "rotation": {
                        "roll": -0.005035401321947575,
                        "pitch": 0.24081195890903473,
                        "yaw": 90.45819091796875
                    }
                },
                "velocity": {
                    "x": -0.04199043661355972,
                    "y": 3.754389524459839,
                    "z": 0.0019099616911262274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0016785911284387112,
        "expert_target_speed": 1.6725300349505807,
        "target_point": [
            50.96345940175049,
            -0.00996005775848506
        ],
        "target_point_next": [
            101.96353982521295,
            -0.019992753100529864
        ]
    },
    "30": {
        "acceleration": [
            0.007393741048872471,
            1.8683123588562012,
            -0.015559958294034004
        ],
        "angular_velocity": [
            -0.09830658882856369,
            -0.02164008468389511,
            0.04053249582648277
        ],
        "forward_vector": [
            -0.001051577040925622,
            0.9999884366989136,
            0.00469015259295702
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010513575980439782,
            -4.928116322844289e-05
        ],
        "location": [
            984.0257568359375,
            5139.7119140625,
            371.6164245605469
        ],
        "rotation": [
            0.0028236338403075933,
            0.2687269449234009,
            90.06024932861328
        ],
        "velocity": [
            0.0004976888885721564,
            1.132318377494812,
            0.0012393378419801593
        ],
        "speed": 1.1323184868696234,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.657306671142578,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9764404296875,
                5156.369140625,
                371.6319580078125
            ],
            "velocity": [
                -0.059190817177295685,
                4.488714218139648,
                0.0019460009643808007
            ],
            "speed_kmh": 16.160777587345674,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.194058418273926,
                "transform": {
                    "location": {
                        "x": 986.9171142578125,
                        "y": 5207.47119140625,
                        "z": 371.6485900878906
                    },
                    "rotation": {
                        "roll": -0.012451170943677425,
                        "pitch": 0.005279736127704382,
                        "yaw": -89.47136688232422
                    }
                },
                "velocity": {
                    "x": 0.09445879608392715,
                    "y": -8.193005561828613,
                    "z": 0.09124170243740082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.162083625793457,
                "transform": {
                    "location": {
                        "x": 984.0530395507812,
                        "y": 5111.81884765625,
                        "z": 371.600341796875
                    },
                    "rotation": {
                        "roll": -0.003662093775346875,
                        "pitch": 0.28551554679870605,
                        "yaw": 90.5782241821289
                    }
                },
                "velocity": {
                    "x": -0.06205587089061737,
                    "y": 5.1616973876953125,
                    "z": 0.011635541915893555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.136366367340088,
                "transform": {
                    "location": {
                        "x": 984.0271606445312,
                        "y": 5126.8115234375,
                        "z": 371.6131896972656
                    },
                    "rotation": {
                        "roll": -0.003845212049782276,
                        "pitch": 0.2695329189300537,
                        "yaw": 90.5625991821289
                    }
                },
                "velocity": {
                    "x": -0.061637032777071,
                    "y": 5.135989665985107,
                    "z": 0.008475207723677158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.489104747772217,
                "transform": {
                    "location": {
                        "x": 983.9764404296875,
                        "y": 5156.369140625,
                        "z": 371.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0016732256626710296,
                        "pitch": -0.10485705733299255,
                        "yaw": 90.47483825683594
                    }
                },
                "velocity": {
                    "x": -0.059190817177295685,
                    "y": 4.488714218139648,
                    "z": 0.0019460009643808007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.173471927642822,
                "transform": {
                    "location": {
                        "x": 983.9453735351562,
                        "y": 5171.830078125,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": -0.0043029640801250935,
                        "pitch": 0.24206189811229706,
                        "yaw": 90.60258483886719
                    }
                },
                "velocity": {
                    "x": -0.06320041418075562,
                    "y": 5.173080921173096,
                    "z": 0.007102126721292734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0028351834043860435,
        "expert_target_speed": 2.184716690275989,
        "target_point": [
            50.73541867885581,
            0.03850177011401994
        ],
        "target_point_next": [
            101.73548571641756,
            0.07679039534553068
        ]
    },
    "35": {
        "acceleration": [
            6.462796591222286e-05,
            1.5657305717468262,
            0.004328154027462006
        ],
        "angular_velocity": [
            -0.12556371092796326,
            0.0032014676835387945,
            0.019670115783810616
        ],
        "forward_vector": [
            -0.0011813963064923882,
            0.9999898076057434,
            0.004349694587290287
        ],
        "right_vector": [
            -0.9999992847442627,
            -0.001181331928819418,
            -1.7374286471749656e-05
        ],
        "location": [
            984.0259399414062,
            5140.056640625,
            371.6166687011719
        ],
        "rotation": [
            0.0009954827837646008,
            0.24921992421150208,
            90.06768798828125
        ],
        "velocity": [
            0.0005392177263274789,
            1.5879992246627808,
            0.0019875620491802692
        ],
        "speed": 1.587999316210605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.560672760009766,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9610595703125,
                5157.6171875,
                371.63238525390625
            ],
            "velocity": [
                -0.06826659291982651,
                5.180267810821533,
                0.0014767837710678577
            ],
            "speed_kmh": 18.65058414156539,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9919047355651855,
                "transform": {
                    "location": {
                        "x": 986.9389038085938,
                        "y": 5205.44873046875,
                        "z": 371.66058349609375
                    },
                    "rotation": {
                        "roll": -0.0028686518780887127,
                        "pitch": 0.012881736271083355,
                        "yaw": -89.35088348388672
                    }
                },
                "velocity": {
                    "x": 0.08980612456798553,
                    "y": -7.991373062133789,
                    "z": 0.02078413963317871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5417094230651855,
                "transform": {
                    "location": {
                        "x": 984.035888671875,
                        "y": 5113.18115234375,
                        "z": 371.6015930175781
                    },
                    "rotation": {
                        "roll": -0.0017089946195483208,
                        "pitch": 0.159136563539505,
                        "yaw": 90.7051773071289
                    }
                },
                "velocity": {
                    "x": -0.07197318226099014,
                    "y": 5.5412397384643555,
                    "z": 0.005030794069170952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.118014335632324,
                "transform": {
                    "location": {
                        "x": 984.0128784179688,
                        "y": 5128.0771484375,
                        "z": 371.61358642578125
                    },
                    "rotation": {
                        "roll": 0.009275260381400585,
                        "pitch": -0.01821611262857914,
                        "yaw": 90.45559692382812
                    }
                },
                "velocity": {
                    "x": -0.031703222543001175,
                    "y": 4.117892265319824,
                    "z": 0.0003674793115351349
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.180717945098877,
                "transform": {
                    "location": {
                        "x": 983.9610595703125,
                        "y": 5157.6171875,
                        "z": 371.63238525390625
                    },
                    "rotation": {
                        "roll": 0.0007028662948869169,
                        "pitch": -0.07238633930683136,
                        "yaw": 90.60984802246094
                    }
                },
                "velocity": {
                    "x": -0.06826659291982651,
                    "y": 5.180267810821533,
                    "z": 0.0014767837710678577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.474350452423096,
                "transform": {
                    "location": {
                        "x": 983.928466796875,
                        "y": 5173.17333984375,
                        "z": 371.6305236816406
                    },
                    "rotation": {
                        "roll": -0.003601080272346735,
                        "pitch": 0.10961087048053741,
                        "yaw": 90.6865463256836
                    }
                },
                "velocity": {
                    "x": -0.07012137025594711,
                    "y": 5.473901271820068,
                    "z": 0.0015415000962093472
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003334296401590109,
        "expert_target_speed": 2.6551648282632634,
        "target_point": [
            50.390698099510715,
            0.030968557291729745
        ],
        "target_point_next": [
            101.39077061699692,
            0.06108608978322724
        ]
    },
    "40": {
        "acceleration": [
            0.0055127195082604885,
            2.307882308959961,
            0.003750419709831476
        ],
        "angular_velocity": [
            0.11822821944952011,
            -0.016251802444458008,
            -0.17791329324245453
        ],
        "forward_vector": [
            -0.0007205376750789583,
            0.9999901652336121,
            0.0043803309090435505
        ],
        "right_vector": [
            -0.9999997615814209,
            -0.0007204050780273974,
            -3.185378955095075e-05
        ],
        "location": [
            984.0260620117188,
            5140.51708984375,
            371.6169128417969
        ],
        "rotation": [
            0.0018251052824780345,
            0.25097528100013733,
            90.0412826538086
        ],
        "velocity": [
            0.0016120098298415542,
            2.1026902198791504,
            0.0014890384627506137
        ],
        "speed": 2.1026908377959708,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.475772857666016,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9444580078125,
                5158.99267578125,
                371.63238525390625
            ],
            "velocity": [
                -0.05060059577226639,
                5.90974235534668,
                0.0022101402282714844
            ],
            "speed_kmh": 21.275853810134567,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.16346263885498,
                "transform": {
                    "location": {
                        "x": 986.9618530273438,
                        "y": 5203.4287109375,
                        "z": 371.6633605957031
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.018871812149882317,
                        "yaw": -89.34072875976562
                    }
                },
                "velocity": {
                    "x": 0.09377396106719971,
                    "y": -8.162921905517578,
                    "z": 0.005734901409596205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.014867782592773,
                "transform": {
                    "location": {
                        "x": 984.0197143554688,
                        "y": 5114.73681640625,
                        "z": 371.6031494140625
                    },
                    "rotation": {
                        "roll": 0.008857816457748413,
                        "pitch": 0.27643823623657227,
                        "yaw": 90.58757781982422
                    }
                },
                "velocity": {
                    "x": -0.06380023807287216,
                    "y": 7.014575481414795,
                    "z": 0.005590066779404879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009601235506124794,
                "transform": {
                    "location": {
                        "x": 984.0089111328125,
                        "y": 5128.5791015625,
                        "z": 371.6131591796875
                    },
                    "rotation": {
                        "roll": 0.0024325011763721704,
                        "pitch": -0.5203579068183899,
                        "yaw": 90.39102935791016
                    }
                },
                "velocity": {
                    "x": 0.00014740764163434505,
                    "y": -2.188488724641502e-05,
                    "z": 0.0009484878974035382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.909959316253662,
                "transform": {
                    "location": {
                        "x": 983.9444580078125,
                        "y": 5158.99267578125,
                        "z": 371.63238525390625
                    },
                    "rotation": {
                        "roll": -0.004425046965479851,
                        "pitch": -0.05141765996813774,
                        "yaw": 90.706298828125
                    }
                },
                "velocity": {
                    "x": -0.05060059577226639,
                    "y": 5.90974235534668,
                    "z": 0.0022101402282714844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.371516227722168,
                "transform": {
                    "location": {
                        "x": 983.9114379882812,
                        "y": 5174.73876953125,
                        "z": 371.6310729980469
                    },
                    "rotation": {
                        "roll": 0.009897366166114807,
                        "pitch": 0.27736714482307434,
                        "yaw": 90.60555267333984
                    }
                },
                "velocity": {
                    "x": -0.06698667258024216,
                    "y": 7.371211528778076,
                    "z": 0.0020125294104218483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0021822054404765368,
        "expert_target_speed": 3.179823671455949,
        "target_point": [
            49.9302314569799,
            0.052807272468783036
        ],
        "target_point_next": [
            100.93028662508617,
            0.10454415226328549
        ]
    },
    "45": {
        "acceleration": [
            0.011085988953709602,
            2.6921892166137695,
            -0.0011430727317929268
        ],
        "angular_velocity": [
            0.17053581774234772,
            0.04567619785666466,
            -0.09358534216880798
        ],
        "forward_vector": [
            -0.00014523876598104835,
            0.9999871850013733,
            0.00506220106035471
        ],
        "right_vector": [
            -1.0,
            -0.0001450764393666759,
            -3.2433537853648886e-05
        ],
        "location": [
            984.026611328125,
            5141.1240234375,
            371.6170959472656
        ],
        "rotation": [
            0.001858328701928258,
            0.29004397988319397,
            90.0083236694336
        ],
        "velocity": [
            0.003653942607343197,
            2.7391955852508545,
            0.0016436672303825617
        ],
        "speed": 2.739198022333243,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.436275482177734,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9314575195312,
                5160.56005859375,
                371.6332702636719
            ],
            "velocity": [
                -0.052857670933008194,
                7.1349005699157715,
                0.0018305014818906784
            ],
            "speed_kmh": 25.68634774369426,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.959319591522217,
                "transform": {
                    "location": {
                        "x": 986.979248046875,
                        "y": 5201.41455078125,
                        "z": 371.6643981933594
                    },
                    "rotation": {
                        "roll": 0.006512833759188652,
                        "pitch": 0.016617849469184875,
                        "yaw": -89.51901245117188
                    }
                },
                "velocity": {
                    "x": 0.05444824695587158,
                    "y": -7.959132671356201,
                    "z": 0.003047723788768053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.008736610412598,
                "transform": {
                    "location": {
                        "x": 984.0057373046875,
                        "y": 5116.3515625,
                        "z": 371.60406494140625
                    },
                    "rotation": {
                        "roll": 0.006352214142680168,
                        "pitch": -0.10998652875423431,
                        "yaw": 90.16627502441406
                    }
                },
                "velocity": {
                    "x": -0.045389965176582336,
                    "y": 5.008528709411621,
                    "z": 0.00475838640704751
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.537219524383545,
                "transform": {
                    "location": {
                        "x": 984.007080078125,
                        "y": 5128.8203125,
                        "z": 371.6141357421875
                    },
                    "rotation": {
                        "roll": 0.0011764485388994217,
                        "pitch": 0.03344060480594635,
                        "yaw": 90.38084411621094
                    }
                },
                "velocity": {
                    "x": -0.010584261268377304,
                    "y": 1.5371819734573364,
                    "z": 0.0019144248217344284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.135096549987793,
                "transform": {
                    "location": {
                        "x": 983.9314575195312,
                        "y": 5160.56005859375,
                        "z": 371.6332702636719
                    },
                    "rotation": {
                        "roll": -0.0036010786425322294,
                        "pitch": -0.12338052690029144,
                        "yaw": 90.56231689453125
                    }
                },
                "velocity": {
                    "x": -0.052857670933008194,
                    "y": 7.1349005699157715,
                    "z": 0.0018305014818906784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.712465763092041,
                "transform": {
                    "location": {
                        "x": 983.8952026367188,
                        "y": 5176.66259765625,
                        "z": 371.6312561035156
                    },
                    "rotation": {
                        "roll": 0.005518125370144844,
                        "pitch": 0.1266658455133438,
                        "yaw": 90.50149536132812
                    }
                },
                "velocity": {
                    "x": -0.06182308867573738,
                    "y": 7.712217807769775,
                    "z": 0.001834659487940371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0059433444403111935,
        "expert_target_speed": 3.821662643547176,
        "target_point": [
            49.32324219553562,
            0.09191463333754579
        ],
        "target_point_next": [
            100.32324220350186,
            0.1830356630570121
        ]
    },
    "50": {
        "acceleration": [
            0.016693370416760445,
            3.051910400390625,
            -0.0011417409405112267
        ],
        "angular_velocity": [
            0.18427883088588715,
            0.0021637591999024153,
            -0.24625231325626373
        ],
        "forward_vector": [
            0.0006045755580998957,
            0.999983012676239,
            0.0058004530146718025
        ],
        "right_vector": [
            -0.9999998211860657,
            0.0006050274823792279,
            -7.615843060193583e-05
        ],
        "location": [
            984.0277099609375,
            5141.90185546875,
            371.6173400878906
        ],
        "rotation": [
            0.004363629966974258,
            0.33234333992004395,
            89.96536254882812
        ],
        "velocity": [
            0.006885226350277662,
            3.468262195587158,
            0.0016192435286939144
        ],
        "speed": 3.468269029888101,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.562318801879883,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9165649414062,
                5162.4638671875,
                371.6331481933594
            ],
            "velocity": [
                -0.05552758648991585,
                7.632815837860107,
                0.0016024875221773982
            ],
            "speed_kmh": 27.478864730950658,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8040852546691895,
                "transform": {
                    "location": {
                        "x": 986.9932861328125,
                        "y": 5199.4052734375,
                        "z": 371.6651916503906
                    },
                    "rotation": {
                        "roll": 0.002495410153642297,
                        "pitch": 0.009705698117613792,
                        "yaw": -89.61541748046875
                    }
                },
                "velocity": {
                    "x": 0.049222830682992935,
                    "y": -7.803929805755615,
                    "z": 0.0017338179750368
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005111180245876312,
                "transform": {
                    "location": {
                        "x": 984.0018310546875,
                        "y": 5116.77978515625,
                        "z": 371.60345458984375
                    },
                    "rotation": {
                        "roll": 0.01563914120197296,
                        "pitch": -0.6204202175140381,
                        "yaw": 90.06395721435547
                    }
                },
                "velocity": {
                    "x": 0.000575340585783124,
                    "y": -0.004708236549049616,
                    "z": 0.0019041156629100442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5835845470428467,
                "transform": {
                    "location": {
                        "x": 984.003173828125,
                        "y": 5129.32421875,
                        "z": 371.61468505859375
                    },
                    "rotation": {
                        "roll": 9.17277138796635e-05,
                        "pitch": 0.1715470254421234,
                        "yaw": 90.40576171875
                    }
                },
                "velocity": {
                    "x": -0.020127858966588974,
                    "y": 2.583505392074585,
                    "z": 0.0018488692585378885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.6330180168151855,
                "transform": {
                    "location": {
                        "x": 983.9165649414062,
                        "y": 5162.4638671875,
                        "z": 371.6331481933594
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": -0.05615098029375076,
                        "yaw": 90.46540069580078
                    }
                },
                "velocity": {
                    "x": -0.05552758648991585,
                    "y": 7.632815837860107,
                    "z": 0.0016024875221773982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.026007652282715,
                "transform": {
                    "location": {
                        "x": 983.8814086914062,
                        "y": 5178.501953125,
                        "z": 371.6314697265625
                    },
                    "rotation": {
                        "roll": 0.0035417189355939627,
                        "pitch": -0.04074207693338394,
                        "yaw": 90.41132354736328
                    }
                },
                "velocity": {
                    "x": -0.05094675347208977,
                    "y": 7.025822639465332,
                    "z": 0.0017168044578284025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.010137100704014301,
        "expert_target_speed": 4.542339089803284,
        "target_point": [
            48.54534583893551,
            0.1220528022093918
        ],
        "target_point_next": [
            99.54528221424957,
            0.24368161677432842
        ]
    },
    "55": {
        "acceleration": [
            0.022917408496141434,
            2.9475784301757812,
            -0.0014354707673192024
        ],
        "angular_velocity": [
            0.03101428598165512,
            -0.01851126365363598,
            -0.16158170998096466
        ],
        "forward_vector": [
            0.0015030358918011189,
            0.9999790191650391,
            0.006304698530584574
        ],
        "right_vector": [
            -0.9999988675117493,
            0.0015036433469504118,
            -9.162654168903828e-05
        ],
        "location": [
            984.0299682617188,
            5142.8701171875,
            371.6176452636719
        ],
        "rotation": [
            0.0052499184384942055,
            0.36123502254486084,
            89.91387939453125
        ],
        "velocity": [
            0.012140088714659214,
            4.2342658042907715,
            0.0015727042919024825
        ],
        "speed": 4.234283207715348,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.36902618408203,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.9044189453125,
                5164.23876953125,
                371.6324768066406
            ],
            "velocity": [
                -0.031954627484083176,
                6.6802873611450195,
                0.0020013428293168545
            ],
            "speed_kmh": 24.049310712172147,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.130497932434082,
                "transform": {
                    "location": {
                        "x": 987.0037841796875,
                        "y": 5197.73876953125,
                        "z": 371.6667785644531
                    },
                    "rotation": {
                        "roll": 0.003546962747350335,
                        "pitch": -0.11486328393220901,
                        "yaw": -89.70800018310547
                    }
                },
                "velocity": {
                    "x": 0.027621474117040634,
                    "y": -6.130434989929199,
                    "z": 0.002586269285529852
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3054078817367554,
                "transform": {
                    "location": {
                        "x": 984.000732421875,
                        "y": 5116.984375,
                        "z": 371.6046142578125
                    },
                    "rotation": {
                        "roll": 0.004100393038243055,
                        "pitch": 0.016105584800243378,
                        "yaw": 90.12663269042969
                    }
                },
                "velocity": {
                    "x": -0.005777381360530853,
                    "y": 1.3053934574127197,
                    "z": 0.002084655687212944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.1939826011657715,
                "transform": {
                    "location": {
                        "x": 983.9963989257812,
                        "y": 5130.1826171875,
                        "z": 371.61541748046875
                    },
                    "rotation": {
                        "roll": -0.0004272649821359664,
                        "pitch": 0.2674497067928314,
                        "yaw": 90.434326171875
                    }
                },
                "velocity": {
                    "x": -0.033467043191194534,
                    "y": 4.193849086761475,
                    "z": 0.0013728808844462037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.68036413192749,
                "transform": {
                    "location": {
                        "x": 983.9044189453125,
                        "y": 5164.23876953125,
                        "z": 371.6324768066406
                    },
                    "rotation": {
                        "roll": -0.003997805528342724,
                        "pitch": 0.08210569620132446,
                        "yaw": 90.39391326904297
                    }
                },
                "velocity": {
                    "x": -0.031954627484083176,
                    "y": 6.6802873611450195,
                    "z": 0.0020013428293168545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.060821533203125,
                "transform": {
                    "location": {
                        "x": 983.8716430664062,
                        "y": 5180.232421875,
                        "z": 371.63189697265625
                    },
                    "rotation": {
                        "roll": 0.0058486321941018105,
                        "pitch": 0.0043576606549322605,
                        "yaw": 90.33879852294922
                    }
                },
                "velocity": {
                    "x": -0.03550911694765091,
                    "y": 7.060731887817383,
                    "z": 0.00232416158542037
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014353645034134388,
        "expert_target_speed": 5.27100109906966,
        "target_point": [
            47.576957842962564,
            0.1649646809837248
        ],
        "target_point_next": [
            98.57676965585154,
            0.3307926174853055
        ]
    },
    "60": {
        "acceleration": [
            0.03231532871723175,
            2.666168212890625,
            -0.0008821487426757812
        ],
        "angular_velocity": [
            -0.09416493773460388,
            -0.030606616288423538,
            -0.2621958255767822
        ],
        "forward_vector": [
            0.002581859240308404,
            0.9999780058860779,
            0.006108245346695185
        ],
        "right_vector": [
            -0.9999966621398926,
            0.0025826182682067156,
            -0.00011636921408353373
        ],
        "location": [
            984.0336303710938,
            5144.0205078125,
            371.6181640625
        ],
        "rotation": [
            0.0066675893031060696,
            0.34997886419296265,
            89.85206604003906
        ],
        "velocity": [
            0.019149374216794968,
            4.931264877319336,
            0.0021629715338349342
        ],
        "speed": 4.931302058160317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.76313018798828,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8968505859375,
                5165.783203125,
                371.6324462890625
            ],
            "velocity": [
                -0.02392123080790043,
                5.606838226318359,
                0.0016290282364934683
            ],
            "speed_kmh": 20.184802171078374,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.156379699707031,
                "transform": {
                    "location": {
                        "x": 987.0104370117188,
                        "y": 5196.21826171875,
                        "z": 371.6663513183594
                    },
                    "rotation": {
                        "roll": 0.001099808025173843,
                        "pitch": -0.007417585235089064,
                        "yaw": -89.76327514648438
                    }
                },
                "velocity": {
                    "x": 0.0235969889909029,
                    "y": -6.156333923339844,
                    "z": 0.0018736838828772306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3384525775909424,
                "transform": {
                    "location": {
                        "x": 983.9978637695312,
                        "y": 5117.45068359375,
                        "z": 371.605224609375
                    },
                    "rotation": {
                        "roll": -0.0013122622622177005,
                        "pitch": 0.16794751584529877,
                        "yaw": 90.23424530029297
                    }
                },
                "velocity": {
                    "x": -0.015072750858962536,
                    "y": 2.3384034633636475,
                    "z": 0.0015209101838991046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.334304332733154,
                "transform": {
                    "location": {
                        "x": 983.9863891601562,
                        "y": 5131.4072265625,
                        "z": 371.6164855957031
                    },
                    "rotation": {
                        "roll": 0.0001919273636303842,
                        "pitch": 0.24320253729820251,
                        "yaw": 90.46155548095703
                    }
                },
                "velocity": {
                    "x": -0.04517858475446701,
                    "y": 5.334111213684082,
                    "z": 0.004575357306748629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.606889247894287,
                "transform": {
                    "location": {
                        "x": 983.8968505859375,
                        "y": 5165.783203125,
                        "z": 371.6324462890625
                    },
                    "rotation": {
                        "roll": -0.00112915167119354,
                        "pitch": 0.12730105221271515,
                        "yaw": 90.30657196044922
                    }
                },
                "velocity": {
                    "x": -0.02392123080790043,
                    "y": 5.606838226318359,
                    "z": 0.0016290282364934683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.954360008239746,
                "transform": {
                    "location": {
                        "x": 983.8629760742188,
                        "y": 5182.1171875,
                        "z": 371.6324157714844
                    },
                    "rotation": {
                        "roll": 0.0037544439546763897,
                        "pitch": 0.11723335832357407,
                        "yaw": 90.25103759765625
                    }
                },
                "velocity": {
                    "x": -0.034578535705804825,
                    "y": 7.95428466796875,
                    "z": 0.0018966197967529297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024346062913537025,
        "expert_target_speed": 5.910495826510904,
        "target_point": [
            46.426342161102355,
            0.21996192012364513
        ],
        "target_point_next": [
            97.42593133687295,
            0.4440327956011245
        ]
    },
    "65": {
        "acceleration": [
            0.04177495837211609,
            0.08321762084960938,
            -0.103510282933712
        ],
        "angular_velocity": [
            -0.61115562915802,
            -0.04461407661437988,
            -0.29934993386268616
        ],
        "forward_vector": [
            0.004035159945487976,
            0.9999868869781494,
            0.003149384865537286
        ],
        "right_vector": [
            -0.9999918341636658,
            0.004035722929984331,
            -0.0001723512395983562
        ],
        "location": [
            984.0391235351562,
            5145.287109375,
            371.6195373535156
        ],
        "rotation": [
            0.009875047951936722,
            0.18044675886631012,
            89.768798828125
        ],
        "velocity": [
            0.026546044275164604,
            5.041104316711426,
            -0.003153905738145113
        ],
        "speed": 5.041174210879171,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.863788604736328,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8908081054688,
                5167.150390625,
                371.6335144042969
            ],
            "velocity": [
                -0.02393454499542713,
                5.536877155303955,
                0.0018569278763607144
            ],
            "speed_kmh": 19.93294511276332,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.127080917358398,
                "transform": {
                    "location": {
                        "x": 987.0170288085938,
                        "y": 5194.486328125,
                        "z": 371.66534423828125
                    },
                    "rotation": {
                        "roll": 0.001037980429828167,
                        "pitch": 0.181239053606987,
                        "yaw": -89.78072357177734
                    }
                },
                "velocity": {
                    "x": 0.031150443479418755,
                    "y": -8.127020835876465,
                    "z": 0.0023511312901973724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.760077714920044,
                "transform": {
                    "location": {
                        "x": 983.9927978515625,
                        "y": 5118.20849609375,
                        "z": 371.6060485839844
                    },
                    "rotation": {
                        "roll": -0.0015564042842015624,
                        "pitch": 0.2518358826637268,
                        "yaw": 90.32405090332031
                    }
                },
                "velocity": {
                    "x": -0.025123383849859238,
                    "y": 3.759992837905884,
                    "z": 0.002508478006348014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.007052355911582708,
                "transform": {
                    "location": {
                        "x": 983.9802856445312,
                        "y": 5132.111328125,
                        "z": 371.6156311035156
                    },
                    "rotation": {
                        "roll": 0.009979970753192902,
                        "pitch": -0.5605467557907104,
                        "yaw": 90.1727294921875
                    }
                },
                "velocity": {
                    "x": -0.00027166583458893,
                    "y": 0.007007818203419447,
                    "z": -0.0007432393613271415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.536929130554199,
                "transform": {
                    "location": {
                        "x": 983.8908081054688,
                        "y": 5167.150390625,
                        "z": 371.6335144042969
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": 0.034533433616161346,
                        "yaw": 90.27620697021484
                    }
                },
                "velocity": {
                    "x": -0.02393454499542713,
                    "y": 5.536877155303955,
                    "z": 0.0018569278763607144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036745071411133,
                "transform": {
                    "location": {
                        "x": 983.8544311523438,
                        "y": 5184.140625,
                        "z": 371.6326599121094
                    },
                    "rotation": {
                        "roll": 0.0036336947232484818,
                        "pitch": 0.040414225310087204,
                        "yaw": 90.25150299072266
                    }
                },
                "velocity": {
                    "x": -0.029962781816720963,
                    "y": 8.036688804626465,
                    "z": 0.0021766566205769777
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03915167227387428,
        "expert_target_speed": 6.010735461500465,
        "target_point": [
            45.15936965720284,
            0.28627007196268456
        ],
        "target_point_next": [
            96.15858929910432,
            0.5827490285594569
        ]
    },
    "70": {
        "acceleration": [
            0.019207969307899475,
            -0.47509193420410156,
            -0.0015930132940411568
        ],
        "angular_velocity": [
            -0.49694308638572693,
            0.001695767743512988,
            3.234574317932129
        ],
        "forward_vector": [
            0.005313918925821781,
            0.9999850392341614,
            0.0012911553494632244
        ],
        "right_vector": [
            -0.9999858736991882,
            0.005314139649271965,
            -0.00016738013073336333
        ],
        "location": [
            984.0464477539062,
            5146.5732421875,
            371.62030029296875
        ],
        "rotation": [
            0.00959018338471651,
            0.07397777587175369,
            89.6955337524414
        ],
        "velocity": [
            0.033507224172353745,
            5.0800628662109375,
            0.0020850372966378927
        ],
        "speed": 5.080173368963605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.076770782470703,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8845825195312,
                5168.6494140625,
                371.6343994140625
            ],
            "velocity": [
                -0.027149302884936333,
                6.288513660430908,
                0.0017572784563526511
            ],
            "speed_kmh": 22.63886104074379,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.294988632202148,
                "transform": {
                    "location": {
                        "x": 987.0243530273438,
                        "y": 5192.36669921875,
                        "z": 371.6667175292969
                    },
                    "rotation": {
                        "roll": 0.001738951657898724,
                        "pitch": 0.07617026567459106,
                        "yaw": -89.81060028076172
                    }
                },
                "velocity": {
                    "x": 0.023137977346777916,
                    "y": -8.29495620727539,
                    "z": 0.0019091700669378042
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1727094650268555,
                "transform": {
                    "location": {
                        "x": 983.986328125,
                        "y": 5119.33544921875,
                        "z": 371.607177734375
                    },
                    "rotation": {
                        "roll": 0.003199859755113721,
                        "pitch": 0.2730094790458679,
                        "yaw": 90.32109832763672
                    }
                },
                "velocity": {
                    "x": -0.025907671079039574,
                    "y": 5.172636985778809,
                    "z": 0.008937901817262173
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.402138352394104,
                "transform": {
                    "location": {
                        "x": 983.9793701171875,
                        "y": 5132.28857421875,
                        "z": 371.6164245605469
                    },
                    "rotation": {
                        "roll": 0.0009677765774540603,
                        "pitch": 0.004876754712313414,
                        "yaw": 90.15010833740234
                    }
                },
                "velocity": {
                    "x": -0.008206414058804512,
                    "y": 1.402113914489746,
                    "z": 0.00115429877769202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.288572311401367,
                "transform": {
                    "location": {
                        "x": 983.8845825195312,
                        "y": 5168.6494140625,
                        "z": 371.6343994140625
                    },
                    "rotation": {
                        "roll": -0.0008239751332439482,
                        "pitch": -0.04180758446455002,
                        "yaw": 90.27017211914062
                    }
                },
                "velocity": {
                    "x": -0.027149302884936333,
                    "y": 6.288513660430908,
                    "z": 0.0017572784563526511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4622883796691895,
                "transform": {
                    "location": {
                        "x": 983.8482055664062,
                        "y": 5186.07080078125,
                        "z": 371.6326904296875
                    },
                    "rotation": {
                        "roll": 0.00244393153116107,
                        "pitch": -0.05459369719028473,
                        "yaw": 90.16415405273438
                    }
                },
                "velocity": {
                    "x": -0.021768376231193542,
                    "y": 7.46225643157959,
                    "z": 0.0014284896897152066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.049348581582307816,
        "expert_target_speed": 6.054583554003497,
        "target_point": [
            43.87280968373847,
            0.3449526224456938
        ],
        "target_point_next": [
            94.87160492213556,
            0.7071515824947443
        ]
    },
    "75": {
        "acceleration": [
            0.030043423175811768,
            0.20628929138183594,
            -0.0025598518550395966
        ],
        "angular_velocity": [
            0.013999647460877895,
            0.05582619458436966,
            -3.6939868927001953
        ],
        "forward_vector": [
            0.007054583635181189,
            0.9999750852584839,
            0.0003718137741088867
        ],
        "right_vector": [
            -0.9999751448631287,
            0.007054646033793688,
            -0.00016650759789627045
        ],
        "location": [
            984.0553588867188,
            5147.8349609375,
            371.620849609375
        ],
        "rotation": [
            0.00954018346965313,
            0.021303359419107437,
            89.5958023071289
        ],
        "velocity": [
            0.04013154283165932,
            5.047518730163574,
            0.0013773536775261164
        ],
        "speed": 5.047678265508029,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.590539932250977,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8786010742188,
                5170.4248046875,
                371.6357421875
            ],
            "velocity": [
                -0.023165510967373848,
                7.998758792877197,
                0.0020100497640669346
            ],
            "speed_kmh": 28.795653326248043,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.774020195007324,
                "transform": {
                    "location": {
                        "x": 987.0299682617188,
                        "y": 5190.3740234375,
                        "z": 371.66796875
                    },
                    "rotation": {
                        "roll": 0.0010772489476948977,
                        "pitch": -0.023625623434782028,
                        "yaw": -89.84246826171875
                    }
                },
                "velocity": {
                    "x": 0.019858084619045258,
                    "y": -7.773994445800781,
                    "z": 0.002329645212739706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5058352947235107,
                "transform": {
                    "location": {
                        "x": 983.9797973632812,
                        "y": 5120.5849609375,
                        "z": 371.60772705078125
                    },
                    "rotation": {
                        "roll": 0.00030622477061115205,
                        "pitch": -0.06127362325787544,
                        "yaw": 90.46794128417969
                    }
                },
                "velocity": {
                    "x": -0.017127282917499542,
                    "y": 3.505793333053589,
                    "z": 0.0007408332894556224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4403815269470215,
                "transform": {
                    "location": {
                        "x": 983.9760131835938,
                        "y": 5132.78466796875,
                        "z": 371.6169738769531
                    },
                    "rotation": {
                        "roll": -0.0013427642406895757,
                        "pitch": 0.15840573608875275,
                        "yaw": 90.20983123779297
                    }
                },
                "velocity": {
                    "x": -0.01678881235420704,
                    "y": 2.4403228759765625,
                    "z": 0.0019262026762589812
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99879264831543,
                "transform": {
                    "location": {
                        "x": 983.8786010742188,
                        "y": 5170.4248046875,
                        "z": 371.6357421875
                    },
                    "rotation": {
                        "roll": -0.0015869170892983675,
                        "pitch": -0.14990215003490448,
                        "yaw": 90.19776916503906
                    }
                },
                "velocity": {
                    "x": -0.023165510967373848,
                    "y": 7.998758792877197,
                    "z": 0.0020100497640669346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.055958271026611,
                "transform": {
                    "location": {
                        "x": 983.8430786132812,
                        "y": 5187.88037109375,
                        "z": 371.6327209472656
                    },
                    "rotation": {
                        "roll": 0.0021979615557938814,
                        "pitch": -0.06509169936180115,
                        "yaw": 90.17533874511719
                    }
                },
                "velocity": {
                    "x": -0.01903519779443741,
                    "y": 7.055932521820068,
                    "z": 0.0002488326863385737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06465313583612442,
        "expert_target_speed": 6.043024234642651,
        "target_point": [
            42.610394750926154,
            0.4211061098396889
        ],
        "target_point_next": [
            93.60848461325021,
            0.8718102799290735
        ]
    },
    "80": {
        "acceleration": [
            0.13045400381088257,
            8.66842269897461,
            0.0043952930718660355
        ],
        "angular_velocity": [
            2.2856805324554443,
            -0.030071808025240898,
            0.5676343441009521
        ],
        "forward_vector": [
            0.008607584051787853,
            0.9999616742134094,
            0.0015814296202734113
        ],
        "right_vector": [
            -0.9999629259109497,
            0.008607860654592514,
            -0.00016763088933657855
        ],
        "location": [
            984.0659790039062,
            5149.11669921875,
            371.6209716796875
        ],
        "rotation": [
            0.009604554623365402,
            0.09060928225517273,
            89.5068130493164
        ],
        "velocity": [
            0.05198870599269867,
            5.527825355529785,
            0.002244348404929042
        ],
        "speed": 5.5280698247027225,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.351879119873047,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.87255859375,
                5172.4677734375,
                371.6350402832031
            ],
            "velocity": [
                -0.022083183750510216,
                7.924056053161621,
                0.0016113471938297153
            ],
            "speed_kmh": 28.526713157640646,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8656616210938,
                        "y": 5229.0634765625,
                        "z": 371.85650634765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02343437820672989,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.13876724243164,
                "transform": {
                    "location": {
                        "x": 987.0352783203125,
                        "y": 5188.39501953125,
                        "z": 371.6676940917969
                    },
                    "rotation": {
                        "roll": 0.0008303941576741636,
                        "pitch": 0.0285980012267828,
                        "yaw": -89.85002899169922
                    }
                },
                "velocity": {
                    "x": 0.02134867198765278,
                    "y": -8.138738632202148,
                    "z": 0.0010358523577451706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.45801517367362976,
                "transform": {
                    "location": {
                        "x": 983.9788208007812,
                        "y": 5120.80224609375,
                        "z": 371.60736083984375
                    },
                    "rotation": {
                        "roll": -0.00482176523655653,
                        "pitch": -0.3539130687713623,
                        "yaw": 90.5291976928711
                    }
                },
                "velocity": {
                    "x": -0.004671640694141388,
                    "y": 0.45798859000205994,
                    "z": 0.0015895842807367444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9431893825531006,
                "transform": {
                    "location": {
                        "x": 983.97021484375,
                        "y": 5133.5830078125,
                        "z": 371.6176452636719
                    },
                    "rotation": {
                        "roll": -0.0032958900555968285,
                        "pitch": 0.24633759260177612,
                        "yaw": 90.3139877319336
                    }
                },
                "velocity": {
                    "x": -0.029418205842375755,
                    "y": 3.9430792331695557,
                    "z": 0.002010135678574443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.924087047576904,
                "transform": {
                    "location": {
                        "x": 983.87255859375,
                        "y": 5172.4677734375,
                        "z": 371.6350402832031
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.012786113657057285,
                        "yaw": 90.19424438476562
                    }
                },
                "velocity": {
                    "x": -0.022083183750510216,
                    "y": 7.924056053161621,
                    "z": 0.0016113471938297153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.758268356323242,
                "transform": {
                    "location": {
                        "x": 983.8388671875,
                        "y": 5189.59912109375,
                        "z": 371.6326904296875
                    },
                    "rotation": {
                        "roll": 0.000459980801679194,
                        "pitch": -0.06109603866934776,
                        "yaw": 90.12696075439453
                    }
                },
                "velocity": {
                    "x": -0.015740571543574333,
                    "y": 6.758249759674072,
                    "z": -0.0017163276206701994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08095327764749527,
        "expert_target_speed": 6.4809812286019675,
        "target_point": [
            41.3279036640925,
            0.48716975461222944
        ],
        "target_point_next": [
            92.3252282617508,
            1.0174411339004807
        ]
    },
    "85": {
        "acceleration": [
            0.09078070521354675,
            2.6987075805664062,
            -0.003079604357481003
        ],
        "angular_velocity": [
            -0.03235539048910141,
            -0.09184595197439194,
            -3.2883379459381104
        ],
        "forward_vector": [
            0.011028493754565716,
            0.9999170899391174,
            0.006652425043284893
        ],
        "right_vector": [
            -0.9999391436576843,
            0.011030780151486397,
            -0.0003070984676014632
        ],
        "location": [
            984.0823364257812,
            5150.67529296875,
            371.6203918457031
        ],
        "rotation": [
            0.017595835030078888,
            0.3811586797237396,
            89.36808776855469
        ],
        "velocity": [
            0.07694493234157562,
            6.615238666534424,
            0.0015664005186408758
        ],
        "speed": 6.615686142632916,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.6333065032959,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8672485351562,
                5174.3076171875,
                371.6345520019531
            ],
            "velocity": [
                -0.015417428687214851,
                6.944405555725098,
                0.001846809289418161
            ],
            "speed_kmh": 24.99992249602705,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8692016601562,
                        "y": 5227.0087890625,
                        "z": 371.6851501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02093452773988247,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.07528018951416,
                "transform": {
                    "location": {
                        "x": 987.040283203125,
                        "y": 5186.3525390625,
                        "z": 371.6679992675781
                    },
                    "rotation": {
                        "roll": 0.00023474104818888009,
                        "pitch": -0.005190943367779255,
                        "yaw": -89.85918426513672
                    }
                },
                "velocity": {
                    "x": 0.019794518128037453,
                    "y": -8.07525634765625,
                    "z": 2.1991729227011092e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6973334550857544,
                "transform": {
                    "location": {
                        "x": 983.9769287109375,
                        "y": 5121.0908203125,
                        "z": 371.6083068847656
                    },
                    "rotation": {
                        "roll": 0.0019664873834699392,
                        "pitch": 0.10383936017751694,
                        "yaw": 90.49137878417969
                    }
                },
                "velocity": {
                    "x": -0.01003580167889595,
                    "y": 1.6973029375076294,
                    "z": 0.0017633914249017835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.334798812866211,
                "transform": {
                    "location": {
                        "x": 983.963623046875,
                        "y": 5134.75244140625,
                        "z": 371.61865234375
                    },
                    "rotation": {
                        "roll": 0.0009706566925160587,
                        "pitch": 0.25342732667922974,
                        "yaw": 90.31918334960938
                    }
                },
                "velocity": {
                    "x": -0.02938590943813324,
                    "y": 5.334715366363525,
                    "z": 0.004888830240815878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.944422721862793,
                "transform": {
                    "location": {
                        "x": 983.8672485351562,
                        "y": 5174.3076171875,
                        "z": 371.6345520019531
                    },
                    "rotation": {
                        "roll": -0.0005493140197359025,
                        "pitch": 0.09562264382839203,
                        "yaw": 90.12847900390625
                    }
                },
                "velocity": {
                    "x": -0.015417428687214851,
                    "y": 6.944405555725098,
                    "z": 0.001846809289418161
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.134244918823242,
                "transform": {
                    "location": {
                        "x": 983.8349609375,
                        "y": 5191.3134765625,
                        "z": 371.6324157714844
                    },
                    "rotation": {
                        "roll": 0.0005066004814580083,
                        "pitch": 0.02359147183597088,
                        "yaw": 90.14801788330078
                    }
                },
                "velocity": {
                    "x": -0.015908636152744293,
                    "y": 7.134227275848389,
                    "z": -0.0019507217220962048
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10523127764463425,
        "expert_target_speed": 7.410870303847472,
        "target_point": [
            39.7679266057396,
            0.5861921301334455
        ],
        "target_point_next": [
            90.76382114445585,
            1.2396782055368063
        ]
    },
    "90": {
        "acceleration": [
            0.08129015564918518,
            2.4522876739501953,
            0.008285902440547943
        ],
        "angular_velocity": [
            -0.16164711117744446,
            0.06306269019842148,
            2.3586337566375732
        ],
        "forward_vector": [
            0.012180248275399208,
            0.9999083280563354,
            0.005905593279749155
        ],
        "right_vector": [
            -0.9999257326126099,
            0.012182268314063549,
            -0.0003062970354221761
        ],
        "location": [
            984.1039428710938,
            5152.41064453125,
            371.62109375
        ],
        "rotation": [
            0.01754983514547348,
            0.3383675515651703,
            89.30209350585938
        ],
        "velocity": [
            0.09705457836389542,
            7.241145610809326,
            0.0022672079503536224
        ],
        "speed": 7.241796002934946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.41431999206543,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.864013671875,
                5175.82373046875,
                371.6346435546875
            ],
            "velocity": [
                -0.016043057665228844,
                5.613533973693848,
                0.0017281436594203115
            ],
            "speed_kmh": 20.208805792483943,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.873046875,
                        "y": 5224.92529296875,
                        "z": 371.6488342285156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.02093452773988247,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.909494400024414,
                "transform": {
                    "location": {
                        "x": 987.044921875,
                        "y": 5184.3671875,
                        "z": 371.66790771484375
                    },
                    "rotation": {
                        "roll": 0.0001790156529750675,
                        "pitch": -0.01760822720825672,
                        "yaw": -89.87045288085938
                    }
                },
                "velocity": {
                    "x": 0.01770181767642498,
                    "y": -7.9094743728637695,
                    "z": -0.0021455574315041304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1484100818634033,
                "transform": {
                    "location": {
                        "x": 983.9744873046875,
                        "y": 5121.6123046875,
                        "z": 371.60882568359375
                    },
                    "rotation": {
                        "roll": 0.0016431849217042327,
                        "pitch": 0.13180215656757355,
                        "yaw": 90.30661010742188
                    }
                },
                "velocity": {
                    "x": -0.011172015219926834,
                    "y": 2.1483805179595947,
                    "z": 0.0013448619283735752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.988976001739502,
                "transform": {
                    "location": {
                        "x": 983.9553833007812,
                        "y": 5136.16162109375,
                        "z": 371.6192932128906
                    },
                    "rotation": {
                        "roll": -0.0021667538676410913,
                        "pitch": 0.17188170552253723,
                        "yaw": 90.53410339355469
                    }
                },
                "velocity": {
                    "x": -0.03785797581076622,
                    "y": 5.988855361938477,
                    "z": 0.002508449601009488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6135573387146,
                "transform": {
                    "location": {
                        "x": 983.864013671875,
                        "y": 5175.82373046875,
                        "z": 371.6346435546875
                    },
                    "rotation": {
                        "roll": 0.00021617203310597688,
                        "pitch": 0.1295686811208725,
                        "yaw": 90.19641876220703
                    }
                },
                "velocity": {
                    "x": -0.016043057665228844,
                    "y": 5.613533973693848,
                    "z": 0.0017281436594203115
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.217087745666504,
                "transform": {
                    "location": {
                        "x": 983.8307495117188,
                        "y": 5193.236328125,
                        "z": 371.6320495605469
                    },
                    "rotation": {
                        "roll": 0.00012733931362163275,
                        "pitch": 0.12676148116588593,
                        "yaw": 90.11946105957031
                    }
                },
                "velocity": {
                    "x": -0.01897505670785904,
                    "y": 8.217065811157227,
                    "z": -0.0014304923824965954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1201973706483841,
        "expert_target_speed": 7.892477152919496,
        "target_point": [
            38.031736636079565,
            0.6326123624892575
        ],
        "target_point_next": [
            89.02684194562903,
            1.3450296015945569
        ]
    },
    "95": {
        "acceleration": [
            0.0745902955532074,
            1.841287612915039,
            0.00921554397791624
        ],
        "angular_velocity": [
            -0.24456416070461273,
            -0.05801509693264961,
            -3.0494022369384766
        ],
        "forward_vector": [
            0.014321677386760712,
            0.9998841881752014,
            0.005142546258866787
        ],
        "right_vector": [
            -0.9998973608016968,
            0.014323544688522816,
            -0.0003265801351517439
        ],
        "location": [
            984.1303100585938,
            5154.2958984375,
            371.6217346191406
        ],
        "rotation": [
            0.018711909651756287,
            0.2946475148200989,
            89.17938995361328
        ],
        "velocity": [
            0.11676331609487534,
            7.7914323806762695,
            0.00224102009087801
        ],
        "speed": 7.792307245908375,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.9429988861084,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8602294921875,
                5177.2373046875,
                371.6358947753906
            ],
            "velocity": [
                -0.011808318085968494,
                5.840461730957031,
                0.001839923788793385
            ],
            "speed_kmh": 21.02570624830473,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034180641174316,
                "transform": {
                    "location": {
                        "x": 986.8778686523438,
                        "y": 5222.85302734375,
                        "z": 371.6220703125
                    },
                    "rotation": {
                        "roll": -0.01797485165297985,
                        "pitch": -0.018557623028755188,
                        "yaw": -89.85112762451172
                    }
                },
                "velocity": {
                    "x": 0.04710017517209053,
                    "y": -8.033797264099121,
                    "z": -0.06276189535856247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.125106811523438,
                "transform": {
                    "location": {
                        "x": 987.0491943359375,
                        "y": 5182.35791015625,
                        "z": 371.6673889160156
                    },
                    "rotation": {
                        "roll": 2.533639781177044e-05,
                        "pitch": 0.002984792459756136,
                        "yaw": -89.87847137451172
                    }
                },
                "velocity": {
                    "x": 0.017080126330256462,
                    "y": -8.125088691711426,
                    "z": -0.0017369556007906795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2582833766937256,
                "transform": {
                    "location": {
                        "x": 983.9724731445312,
                        "y": 5122.12939453125,
                        "z": 371.6092529296875
                    },
                    "rotation": {
                        "roll": 0.002055845456197858,
                        "pitch": 0.07998833805322647,
                        "yaw": 90.16152954101562
                    }
                },
                "velocity": {
                    "x": -0.00769766652956605,
                    "y": 2.2582690715789795,
                    "z": 0.0022426508367061615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.56587553024292,
                "transform": {
                    "location": {
                        "x": 983.945068359375,
                        "y": 5137.79541015625,
                        "z": 371.62017822265625
                    },
                    "rotation": {
                        "roll": 0.000428986269980669,
                        "pitch": 0.27835068106651306,
                        "yaw": 90.4164810180664
                    }
                },
                "velocity": {
                    "x": -0.046479880809783936,
                    "y": 7.565732479095459,
                    "z": 0.0021927356719970703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.8404741287231445,
                "transform": {
                    "location": {
                        "x": 983.8602294921875,
                        "y": 5177.2373046875,
                        "z": 371.6358947753906
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.013394000008702278,
                        "yaw": 90.13067626953125
                    }
                },
                "velocity": {
                    "x": -0.011808318085968494,
                    "y": 5.840461730957031,
                    "z": 0.001839923788793385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.168391227722168,
                "transform": {
                    "location": {
                        "x": 983.826171875,
                        "y": 5195.314453125,
                        "z": 371.63134765625
                    },
                    "rotation": {
                        "roll": 0.0007345437770709395,
                        "pitch": 0.010129169560968876,
                        "yaw": 90.13849639892578
                    }
                },
                "velocity": {
                    "x": -0.01747209206223488,
                    "y": 8.16837215423584,
                    "z": -0.002459630835801363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14480705559253693,
        "expert_target_speed": 8.310526196316095,
        "target_point": [
            36.14485704338873,
            0.713389874838469
        ],
        "target_point_next": [
            87.13832038792714,
            1.5349737012579447
        ]
    },
    "100": {
        "acceleration": [
            -0.32655656337738037,
            0.7094001770019531,
            -0.016058538109064102
        ],
        "angular_velocity": [
            -0.4066903293132782,
            0.3812173008918762,
            3.0517961978912354
        ],
        "forward_vector": [
            0.015156978741288185,
            0.9998787641525269,
            0.0035760323517024517
        ],
        "right_vector": [
            -0.9998851418495178,
            0.015157322399318218,
            -6.89935332047753e-05
        ],
        "location": [
            984.160888671875,
            5156.28564453125,
            371.62255859375
        ],
        "rotation": [
            0.003953063394874334,
            0.20489200949668884,
            89.13153076171875
        ],
        "velocity": [
            0.11508497595787048,
            8.074702262878418,
            0.0017478370573371649
        ],
        "speed": 8.075522347552823,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.493270874023438,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8568725585938,
                5178.77685546875,
                371.6365966796875
            ],
            "velocity": [
                -0.01471547968685627,
                6.336315155029297,
                0.002068424131721258
            ],
            "speed_kmh": 22.810797288910546,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.211442947387695,
                "transform": {
                    "location": {
                        "x": 986.8961791992188,
                        "y": 5220.8203125,
                        "z": 371.622802734375
                    },
                    "rotation": {
                        "roll": -0.02713012881577015,
                        "pitch": 0.008667510002851486,
                        "yaw": -89.47058868408203
                    }
                },
                "velocity": {
                    "x": 0.08905067294836044,
                    "y": -8.210949897766113,
                    "z": 0.013318691402673721
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.982235908508301,
                "transform": {
                    "location": {
                        "x": 987.0531616210938,
                        "y": 5180.34228515625,
                        "z": 371.6671447753906
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": -0.018707886338233948,
                        "yaw": -89.8901596069336
                    }
                },
                "velocity": {
                    "x": 0.015153772197663784,
                    "y": -7.9822211265563965,
                    "z": -0.002296400023624301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5365030765533447,
                "transform": {
                    "location": {
                        "x": 983.969970703125,
                        "y": 5122.84228515625,
                        "z": 371.6100158691406
                    },
                    "rotation": {
                        "roll": 0.00023548967146780342,
                        "pitch": 0.2096799612045288,
                        "yaw": 90.15147399902344
                    }
                },
                "velocity": {
                    "x": -0.012927780859172344,
                    "y": 3.5364787578582764,
                    "z": 0.002123117446899414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.85652494430542,
                "transform": {
                    "location": {
                        "x": 983.93505859375,
                        "y": 5139.75927734375,
                        "z": 371.6209411621094
                    },
                    "rotation": {
                        "roll": 0.005900077987462282,
                        "pitch": 0.13060687482357025,
                        "yaw": 90.27776336669922
                    }
                },
                "velocity": {
                    "x": -0.03317464888095856,
                    "y": 7.856454372406006,
                    "z": 0.0024468707852065563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.33633279800415,
                "transform": {
                    "location": {
                        "x": 983.8568725585938,
                        "y": 5178.77685546875,
                        "z": 371.6365966796875
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": -0.02615279331803322,
                        "yaw": 90.14752197265625
                    }
                },
                "velocity": {
                    "x": -0.01471547968685627,
                    "y": 6.336315155029297,
                    "z": 0.002068424131721258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8882951736450195,
                "transform": {
                    "location": {
                        "x": 983.8223876953125,
                        "y": 5197.3037109375,
                        "z": 371.630615234375
                    },
                    "rotation": {
                        "roll": 0.0009708059369586408,
                        "pitch": -0.0455641895532608,
                        "yaw": 90.09201049804688
                    }
                },
                "velocity": {
                    "x": -0.014252609573304653,
                    "y": 7.88828182220459,
                    "z": -0.00249106390401721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17485113441944122,
        "expert_target_speed": 8.521421423003579,
        "target_point": [
            34.15426904303773,
            0.7439265084168636
        ],
        "target_point_next": [
            85.14703008059372,
            1.6080015175021465
        ]
    },
    "105": {
        "acceleration": [
            -0.15520364046096802,
            0.3915977478027344,
            -0.007151411846280098
        ],
        "angular_velocity": [
            -0.24529112875461578,
            0.024844277650117874,
            -1.5127980709075928
        ],
        "forward_vector": [
            0.01144746970385313,
            0.9999324083328247,
            0.0020320401526987553
        ],
        "right_vector": [
            -0.9999343156814575,
            0.011446195654571056,
            0.0006380919949151576
        ],
        "location": [
            984.1845703125,
            5158.318359375,
            371.62335205078125
        ],
        "rotation": [
            -0.03656005859375,
            0.11642739921808243,
            89.3440933227539
        ],
        "velocity": [
            0.07431889325380325,
            8.18427848815918,
            0.002113723661750555
        ],
        "speed": 8.184615914607086,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.363300323486328,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.8532104492188,
                5180.67919921875,
                371.6379089355469
            ],
            "velocity": [
                -0.01655709557235241,
                8.243278503417969,
                0.0016777229029685259
            ],
            "speed_kmh": 29.67586308744139,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012717247009277,
                "transform": {
                    "location": {
                        "x": 986.9203491210938,
                        "y": 5218.79345703125,
                        "z": 371.6248779296875
                    },
                    "rotation": {
                        "roll": -0.015441890805959702,
                        "pitch": 0.0102999247610569,
                        "yaw": -89.30052947998047
                    }
                },
                "velocity": {
                    "x": 0.1023971363902092,
                    "y": -8.01206111907959,
                    "z": 0.005792331416159868
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032673835754395,
                "transform": {
                    "location": {
                        "x": 987.0568237304688,
                        "y": 5178.34521484375,
                        "z": 371.6666564941406
                    },
                    "rotation": {
                        "roll": 0.00043661388917826116,
                        "pitch": -0.012663169763982296,
                        "yaw": -89.89452362060547
                    }
                },
                "velocity": {
                    "x": 0.014723009429872036,
                    "y": -8.032660484313965,
                    "z": -0.0019048309186473489
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.976248741149902,
                "transform": {
                    "location": {
                        "x": 983.9658203125,
                        "y": 5123.9189453125,
                        "z": 371.6109313964844
                    },
                    "rotation": {
                        "roll": 0.0009591711568646133,
                        "pitch": 0.260715126991272,
                        "yaw": 90.1937484741211
                    }
                },
                "velocity": {
                    "x": -0.016634058207273483,
                    "y": 4.976220607757568,
                    "z": 0.0016601181123405695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.765150547027588,
                "transform": {
                    "location": {
                        "x": 983.9281005859375,
                        "y": 5141.697265625,
                        "z": 371.6217956542969
                    },
                    "rotation": {
                        "roll": 0.004495176021009684,
                        "pitch": 0.04400690644979477,
                        "yaw": 90.196044921875
                    }
                },
                "velocity": {
                    "x": -0.02479471080005169,
                    "y": 7.765110492706299,
                    "z": 0.003400030080229044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.243294715881348,
                "transform": {
                    "location": {
                        "x": 983.8532104492188,
                        "y": 5180.67919921875,
                        "z": 371.6379089355469
                    },
                    "rotation": {
                        "roll": 0.0005204499466344714,
                        "pitch": -0.13986177742481232,
                        "yaw": 90.15950012207031
                    }
                },
                "velocity": {
                    "x": -0.01655709557235241,
                    "y": 8.243278503417969,
                    "z": 0.0016777229029685259
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.13755989074707,
                "transform": {
                    "location": {
                        "x": 983.8187255859375,
                        "y": 5199.31103515625,
                        "z": 371.6300354003906
                    },
                    "rotation": {
                        "roll": 0.0005633601103909314,
                        "pitch": 0.0045147547498345375,
                        "yaw": 90.12206268310547
                    }
                },
                "velocity": {
                    "x": -0.015656867995858192,
                    "y": 8.137544631958008,
                    "z": -0.001576824113726616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1786092072725296,
        "expert_target_speed": 8.635217193189533,
        "target_point": [
            32.12394152119768,
            0.6176058157966892
        ],
        "target_point_next": [
            83.11955767842441,
            1.2924662453751896
        ]
    },
    "110": {
        "acceleration": [
            -0.16349472105503082,
            0.3362274169921875,
            0.006343461573123932
        ],
        "angular_velocity": [
            -0.11909219622612,
            0.06366623193025589,
            3.759887456893921
        ],
        "forward_vector": [
            0.005998168606311083,
            0.9999811053276062,
            0.0013183350674808025
        ],
        "right_vector": [
            -0.9999815821647644,
            0.005996978376060724,
            0.0009054736001417041
        ],
        "location": [
            984.1989135742188,
            5160.3759765625,
            371.62396240234375
        ],
        "rotation": [
            -0.051879867911338806,
            0.07553505897521973,
            89.65632629394531
        ],
        "velocity": [
            0.033899858593940735,
            8.271409034729004,
            0.002010879572480917
        ],
        "speed": 8.271478502674675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.3740463256836,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.18273639678955,
                "transform": {
                    "location": {
                        "x": 986.9419555664062,
                        "y": 5216.7685546875,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": 0.010551458224654198,
                        "pitch": 0.019254302605986595,
                        "yaw": -89.4127197265625
                    }
                },
                "velocity": {
                    "x": 0.07406841218471527,
                    "y": -8.182400703430176,
                    "z": 0.003235731041058898
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.036965370178223,
                "transform": {
                    "location": {
                        "x": 987.060546875,
                        "y": 5176.3330078125,
                        "z": 371.6661682128906
                    },
                    "rotation": {
                        "roll": 0.000532743870280683,
                        "pitch": -0.009432490915060043,
                        "yaw": -89.89696502685547
                    }
                },
                "velocity": {
                    "x": 0.012994167394936085,
                    "y": -8.036954879760742,
                    "z": -0.0024213313590735197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.528482437133789,
                "transform": {
                    "location": {
                        "x": 983.9616088867188,
                        "y": 5125.251953125,
                        "z": 371.612060546875
                    },
                    "rotation": {
                        "roll": 0.0011104366276413202,
                        "pitch": 0.15302355587482452,
                        "yaw": 90.18929290771484
                    }
                },
                "velocity": {
                    "x": -0.017843138426542282,
                    "y": 5.528450965881348,
                    "z": 0.005598764400929213
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05271053314209,
                "transform": {
                    "location": {
                        "x": 983.9221801757812,
                        "y": 5143.6806640625,
                        "z": 371.6227722167969
                    },
                    "rotation": {
                        "roll": 0.0019387376960366964,
                        "pitch": 0.06154683232307434,
                        "yaw": 90.1688003540039
                    }
                },
                "velocity": {
                    "x": -0.022898677736520767,
                    "y": 8.052677154541016,
                    "z": 0.0024972627870738506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18256069719791412,
        "expert_target_speed": 8.816783803228669,
        "target_point": [
            30.069158029535043,
            0.444942820223562
        ],
        "target_point_next": [
            81.06768932154661,
            0.842573191713557
        ]
    },
    "115": {
        "acceleration": [
            -0.1732921004295349,
            0.5658912658691406,
            -0.004546167328953743
        ],
        "angular_velocity": [
            0.021768970414996147,
            0.01567557081580162,
            -1.3896138668060303
        ],
        "forward_vector": [
            0.0013709809863939881,
            0.9999983310699463,
            0.001188873895443976
        ],
        "right_vector": [
            -0.9999985098838806,
            0.0013697590911760926,
            0.001027979189530015
        ],
        "location": [
            984.202880859375,
            5162.45751953125,
            371.62445068359375
        ],
        "rotation": [
            -0.05889892578125,
            0.06811746954917908,
            89.92144775390625
        ],
        "velocity": [
            -0.00827537290751934,
            8.387300491333008,
            0.0020219420548528433
        ],
        "speed": 8.387304573801506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.294532775878906,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.983734607696533,
                "transform": {
                    "location": {
                        "x": 986.9585571289062,
                        "y": 5214.74853515625,
                        "z": 371.6265869140625
                    },
                    "rotation": {
                        "roll": 0.009077302180230618,
                        "pitch": 0.013564755208790302,
                        "yaw": -89.53607177734375
                    }
                },
                "velocity": {
                    "x": 0.06126528978347778,
                    "y": -7.983499526977539,
                    "z": 0.0019796467386186123
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026293754577637,
                "transform": {
                    "location": {
                        "x": 987.06396484375,
                        "y": 5174.326171875,
                        "z": 371.6657409667969
                    },
                    "rotation": {
                        "roll": -0.0005798340425826609,
                        "pitch": -0.015046905726194382,
                        "yaw": -89.90276336669922
                    }
                },
                "velocity": {
                    "x": 0.013616538606584072,
                    "y": -8.026281356811523,
                    "z": -0.0020075321663171053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.0784077644348145,
                "transform": {
                    "location": {
                        "x": 983.9567260742188,
                        "y": 5126.75,
                        "z": 371.61322021484375
                    },
                    "rotation": {
                        "roll": 0.0003159533371217549,
                        "pitch": 0.27914297580718994,
                        "yaw": 90.1930160522461
                    }
                },
                "velocity": {
                    "x": -0.023646466434001923,
                    "y": 7.078365802764893,
                    "z": 0.005424051079899073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025390625,
                "transform": {
                    "location": {
                        "x": 983.9171142578125,
                        "y": 5145.69189453125,
                        "z": 371.6235046386719
                    },
                    "rotation": {
                        "roll": 0.0017284624045714736,
                        "pitch": 0.0256815105676651,
                        "yaw": 90.14169311523438
                    }
                },
                "velocity": {
                    "x": -0.01994185335934162,
                    "y": 8.025365829467773,
                    "z": 0.0022662258706986904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1701698750257492,
        "expert_target_speed": 8.901572389717765,
        "target_point": [
            27.98936244721388,
            0.305616180932339
        ],
        "target_point_next": [
            78.98919499722577,
            0.4649388891757701
        ]
    },
    "120": {
        "acceleration": [
            -0.1294034719467163,
            0.5372810363769531,
            0.006582830101251602
        ],
        "angular_velocity": [
            0.015058349817991257,
            -0.061959244310855865,
            3.6151297092437744
        ],
        "forward_vector": [
            -0.004164484795182943,
            0.9999904036521912,
            0.0013746018521487713
        ],
        "right_vector": [
            -0.9999908208847046,
            -0.004165946040302515,
            0.0010615346254780889
        ],
        "location": [
            984.1964111328125,
            5164.57470703125,
            371.6248779296875
        ],
        "rotation": [
            -0.0608215294778347,
            0.07875891029834747,
            90.23860931396484
        ],
        "velocity": [
            -0.04973403364419937,
            8.54098129272461,
            0.0021356104407459497
        ],
        "speed": 8.54112609184376,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.1790885925293,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.154009819030762,
                "transform": {
                    "location": {
                        "x": 986.9730834960938,
                        "y": 5212.73046875,
                        "z": 371.6272277832031
                    },
                    "rotation": {
                        "roll": 0.009890307672321796,
                        "pitch": 0.0201558880507946,
                        "yaw": -89.59484100341797
                    }
                },
                "velocity": {
                    "x": 0.04906414821743965,
                    "y": -8.153861999511719,
                    "z": 0.001801233272999525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015791893005371,
                "transform": {
                    "location": {
                        "x": 987.0673217773438,
                        "y": 5172.32177734375,
                        "z": 371.6652526855469
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.011351773515343666,
                        "yaw": -89.90310668945312
                    }
                },
                "velocity": {
                    "x": 0.013536582700908184,
                    "y": -8.015780448913574,
                    "z": -0.0013244152069091797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.3275785446167,
                "transform": {
                    "location": {
                        "x": 983.9505004882812,
                        "y": 5128.70166015625,
                        "z": 371.6145324707031
                    },
                    "rotation": {
                        "roll": 0.0008202843018807471,
                        "pitch": 0.25219106674194336,
                        "yaw": 90.18775177001953
                    }
                },
                "velocity": {
                    "x": -0.02687762677669525,
                    "y": 8.327533721923828,
                    "z": 0.005250701680779457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.205045700073242,
                "transform": {
                    "location": {
                        "x": 983.9125366210938,
                        "y": 5147.71630859375,
                        "z": 371.6241455078125
                    },
                    "rotation": {
                        "roll": -6.103315172367729e-05,
                        "pitch": 0.04059864208102226,
                        "yaw": 90.1274185180664
                    }
                },
                "velocity": {
                    "x": -0.018193133175373077,
                    "y": 8.205024719238281,
                    "z": 0.002290162956342101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1579081118106842,
        "expert_target_speed": 9.012833933686798,
        "target_point": [
            25.873423105692147,
            0.1541482564419785
        ],
        "target_point_next": [
            76.87336118110224,
            0.033234407149355105
        ]
    },
    "125": {
        "acceleration": [
            -0.15400990843772888,
            -0.105438232421875,
            -0.004246521275490522
        ],
        "angular_velocity": [
            -0.1712885946035385,
            -0.023296192288398743,
            -1.513237714767456
        ],
        "forward_vector": [
            -0.00823409017175436,
            0.9999656677246094,
            0.0009304283303208649
        ],
        "right_vector": [
            -0.9999655485153198,
            -0.008235028944909573,
            0.0010104025714099407
        ],
        "location": [
            984.1798706054688,
            5166.71728515625,
            371.6254577636719
        ],
        "rotation": [
            -0.0578918382525444,
            0.05330962315201759,
            90.47178649902344
        ],
        "velocity": [
            -0.08766734600067139,
            8.574822425842285,
            0.0017357253236696124
        ],
        "speed": 8.575270561229107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.03794479370117,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.178365230560303,
                "transform": {
                    "location": {
                        "x": 986.9818725585938,
                        "y": 5211.0400390625,
                        "z": 371.6277160644531
                    },
                    "rotation": {
                        "roll": 0.007514459080994129,
                        "pitch": -0.23751981556415558,
                        "yaw": -89.7017822265625
                    }
                },
                "velocity": {
                    "x": 0.02847115509212017,
                    "y": -6.178299427032471,
                    "z": 0.002071542665362358
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050407409667969,
                "transform": {
                    "location": {
                        "x": 987.0707397460938,
                        "y": 5170.31201171875,
                        "z": 371.6648254394531
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": -0.011536188423633575,
                        "yaw": -89.90135955810547
                    }
                },
                "velocity": {
                    "x": 0.015387584455311298,
                    "y": -8.050393104553223,
                    "z": -0.001675195642746985
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.92562198638916,
                "transform": {
                    "location": {
                        "x": 983.9445190429688,
                        "y": 5130.904296875,
                        "z": 371.6159362792969
                    },
                    "rotation": {
                        "roll": 0.002326909452676773,
                        "pitch": 0.16465535759925842,
                        "yaw": 90.1529769897461
                    }
                },
                "velocity": {
                    "x": -0.022332118824124336,
                    "y": 8.925591468811035,
                    "z": 0.006615238264203072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.333270072937012,
                "transform": {
                    "location": {
                        "x": 983.9080200195312,
                        "y": 5149.7900390625,
                        "z": 371.6247863769531
                    },
                    "rotation": {
                        "roll": 0.00041548936860635877,
                        "pitch": 0.04101528227329254,
                        "yaw": 90.12616729736328
                    }
                },
                "velocity": {
                    "x": -0.01747642271220684,
                    "y": 8.333251953125,
                    "z": 0.002177085727453232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1297777146100998,
        "expert_target_speed": 9.037014956716506,
        "target_point": [
            23.73119528375443,
            0.04955615433765864
        ],
        "target_point_next": [
            74.73021364777331,
            -0.27973059164358677
        ]
    },
    "130": {
        "acceleration": [
            -0.033296048641204834,
            -1.4242935180664062,
            0.0062644947320222855
        ],
        "angular_velocity": [
            -0.43577003479003906,
            -0.08752842992544174,
            3.0826056003570557
        ],
        "forward_vector": [
            -0.011548303999006748,
            0.999933123588562,
            -0.0006349086179398
        ],
        "right_vector": [
            -0.9999330639839172,
            -0.011547871865332127,
            0.0006796384113840759
        ],
        "location": [
            984.1571044921875,
            5168.83251953125,
            371.6262512207031
        ],
        "rotation": [
            -0.0389404222369194,
            -0.03637758642435074,
            90.66168212890625
        ],
        "velocity": [
            -0.1001688539981842,
            8.31575870513916,
            0.002082986757159233
        ],
        "speed": 8.316361983548397,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.9239387512207,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.213188171386719,
                "transform": {
                    "location": {
                        "x": 986.9884643554688,
                        "y": 5209.49951171875,
                        "z": 371.6283264160156
                    },
                    "rotation": {
                        "roll": 0.003927736077457666,
                        "pitch": -0.034950077533721924,
                        "yaw": -89.74533081054688
                    }
                },
                "velocity": {
                    "x": 0.025761310011148453,
                    "y": -6.213134765625,
                    "z": 0.0023194884415715933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00325870513916,
                "transform": {
                    "location": {
                        "x": 987.0743408203125,
                        "y": 5168.306640625,
                        "z": 371.6644592285156
                    },
                    "rotation": {
                        "roll": 0.0005980813293717802,
                        "pitch": -0.013585245236754417,
                        "yaw": -89.89801025390625
                    }
                },
                "velocity": {
                    "x": 0.012236518785357475,
                    "y": -8.003249168395996,
                    "z": -0.0017837333725765347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049999237060547,
                "transform": {
                    "location": {
                        "x": 983.9393310546875,
                        "y": 5133.01416015625,
                        "z": 371.6170959472656
                    },
                    "rotation": {
                        "roll": 0.0012405349407345057,
                        "pitch": -0.03555113449692726,
                        "yaw": 90.13269805908203
                    }
                },
                "velocity": {
                    "x": -0.018254227936267853,
                    "y": 8.04997730255127,
                    "z": 0.004806070122867823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.191324234008789,
                "transform": {
                    "location": {
                        "x": 983.903564453125,
                        "y": 5151.8603515625,
                        "z": 371.6253967285156
                    },
                    "rotation": {
                        "roll": 0.000548271054867655,
                        "pitch": 0.00635890569537878,
                        "yaw": 90.1199951171875
                    }
                },
                "velocity": {
                    "x": -0.0172423142939806,
                    "y": 8.191306114196777,
                    "z": 0.0017878722865134478
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11929415911436081,
        "expert_target_speed": 8.848520304764609,
        "target_point": [
            21.61587304423539,
            -0.027356519797671425
        ],
        "target_point_next": [
            72.61352128221671,
            -0.525531237879928
        ]
    },
    "135": {
        "acceleration": [
            0.058141499757766724,
            -1.3806915283203125,
            0.010350989177823067
        ],
        "angular_velocity": [
            -0.16020402312278748,
            -0.09747844189405441,
            -3.0293424129486084
        ],
        "forward_vector": [
            -0.011216189712285995,
            0.9999353289604187,
            -0.0018907772609964013
        ],
        "right_vector": [
            -0.999937117099762,
            -0.011215940117835999,
            0.00014274513523560017
        ],
        "location": [
            984.1337280273438,
            5170.86376953125,
            371.626953125
        ],
        "rotation": [
            -0.00817870907485485,
            -0.10833362489938736,
            90.64265441894531
        ],
        "velocity": [
            -0.08674485236406326,
            7.956650733947754,
            0.0021624183282256126
        ],
        "speed": 7.957123573970873,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.893890380859375,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8306274414062,
                        "y": 5248.67431640625,
                        "z": 371.6966857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03357037901878357,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.221267700195312,
                "transform": {
                    "location": {
                        "x": 986.9956665039062,
                        "y": 5207.7109375,
                        "z": 371.6289367675781
                    },
                    "rotation": {
                        "roll": 0.004974899813532829,
                        "pitch": 0.32726165652275085,
                        "yaw": -89.77075958251953
                    }
                },
                "velocity": {
                    "x": 0.028438525274395943,
                    "y": -8.221219062805176,
                    "z": 0.0017997263930737972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050054550170898,
                "transform": {
                    "location": {
                        "x": 987.077880859375,
                        "y": 5166.29931640625,
                        "z": 371.6639404296875
                    },
                    "rotation": {
                        "roll": -0.0007324222824536264,
                        "pitch": -0.01141324546188116,
                        "yaw": -89.90057373046875
                    }
                },
                "velocity": {
                    "x": 0.01401723362505436,
                    "y": -8.050042152404785,
                    "z": -0.00201976764947176
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.356637001037598,
                "transform": {
                    "location": {
                        "x": 983.9347534179688,
                        "y": 5135.03759765625,
                        "z": 371.61846923828125
                    },
                    "rotation": {
                        "roll": -0.00021362357074394822,
                        "pitch": 0.04967596381902695,
                        "yaw": 90.13106536865234
                    }
                },
                "velocity": {
                    "x": -0.01906999759376049,
                    "y": 8.356612205505371,
                    "z": 0.005950326565653086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.7803144454956055,
                "transform": {
                    "location": {
                        "x": 983.8995361328125,
                        "y": 5153.857421875,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": 0.00066991220228374,
                        "pitch": -0.035032037645578384,
                        "yaw": 90.11366271972656
                    }
                },
                "velocity": {
                    "x": -0.015542806126177311,
                    "y": 7.780298709869385,
                    "z": 0.0023924827110022306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11823397874832153,
        "expert_target_speed": 8.579645352270644,
        "target_point": [
            19.58449667921069,
            -0.020597662512769205
        ],
        "target_point_next": [
            70.58231145630408,
            -0.501421763290407
        ]
    },
    "140": {
        "acceleration": [
            0.05590319633483887,
            -1.3281726837158203,
            -0.005605125334113836
        ],
        "angular_velocity": [
            -0.04843156412243843,
            -0.09782294929027557,
            2.555835247039795
        ],
        "forward_vector": [
            -0.010408351197838783,
            0.9999433755874634,
            -0.0022231319453567266
        ],
        "right_vector": [
            -0.9999458193778992,
            -0.010408654808998108,
            -0.00012535694986581802
        ],
        "location": [
            984.1138916015625,
            5172.80908203125,
            371.62744140625
        ],
        "rotation": [
            0.007182442117482424,
            -0.12737618386745453,
            90.59636688232422
        ],
        "velocity": [
            -0.07274065911769867,
            7.620710372924805,
            0.0014464473351836205
        ],
        "speed": 7.621057524483895,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.949954986572266,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8342895507812,
                        "y": 5246.59033203125,
                        "z": 371.66815185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031036376953125,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.189640045166016,
                "transform": {
                    "location": {
                        "x": 987.0021362304688,
                        "y": 5205.609375,
                        "z": 371.629638671875
                    },
                    "rotation": {
                        "roll": 0.00427950220182538,
                        "pitch": 0.09344381093978882,
                        "yaw": -89.82421112060547
                    }
                },
                "velocity": {
                    "x": 0.02364770509302616,
                    "y": -8.189605712890625,
                    "z": 0.0022841929458081722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008831024169922,
                "transform": {
                    "location": {
                        "x": 987.0814819335938,
                        "y": 5164.2919921875,
                        "z": 371.6635437011719
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": -0.01294320821762085,
                        "yaw": -89.89537811279297
                    }
                },
                "velocity": {
                    "x": 0.01619555614888668,
                    "y": -8.008814811706543,
                    "z": -0.001763353357091546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.881543159484863,
                "transform": {
                    "location": {
                        "x": 983.9300537109375,
                        "y": 5137.2353515625,
                        "z": 371.61962890625
                    },
                    "rotation": {
                        "roll": 0.00046023132745176554,
                        "pitch": 0.09608026593923569,
                        "yaw": 90.12549591064453
                    }
                },
                "velocity": {
                    "x": -0.019422326236963272,
                    "y": 8.88152027130127,
                    "z": 0.005326013546437025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.447680473327637,
                "transform": {
                    "location": {
                        "x": 983.8958129882812,
                        "y": 5155.75537109375,
                        "z": 371.62640380859375
                    },
                    "rotation": {
                        "roll": 0.0002830927260220051,
                        "pitch": -0.0414729081094265,
                        "yaw": 90.1111831665039
                    }
                },
                "velocity": {
                    "x": -0.014561141841113567,
                    "y": 7.447665691375732,
                    "z": 0.0018327521393075585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.65948486328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03357037901878357,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10551199316978455,
        "expert_target_speed": 8.320387684629699,
        "target_point": [
            17.63909334968798,
            -0.004318312825255105
        ],
        "target_point_next": [
            68.63728113831084,
            -0.44380224992935263
        ]
    },
    "145": {
        "acceleration": [
            0.08029438555240631,
            -0.8552074432373047,
            -0.0008504861034452915
        ],
        "angular_velocity": [
            0.12721048295497894,
            0.008666995912790298,
            -3.3274545669555664
        ],
        "forward_vector": [
            -0.00849108025431633,
            0.9999616742134094,
            -0.0021220429334789515
        ],
        "right_vector": [
            -0.9999639391899109,
            -0.008491598069667816,
            -0.00023483675613533705
        ],
        "location": [
            984.09716796875,
            5174.673828125,
            371.6278381347656
        ],
        "rotation": [
            0.013455186039209366,
            -0.12158419191837311,
            90.48651123046875
        ],
        "velocity": [
            -0.05732757970690727,
            7.334505558013916,
            0.0014572810614481568
        ],
        "speed": 7.334729595011126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 50.08675765991211,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.8380126953125,
                        "y": 5244.50732421875,
                        "z": 371.63226318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.031036376953125,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8018107414245605,
                "transform": {
                    "location": {
                        "x": 987.0076904296875,
                        "y": 5203.63427734375,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": 0.0019133852329105139,
                        "pitch": -0.026303056627511978,
                        "yaw": -89.84209442138672
                    }
                },
                "velocity": {
                    "x": 0.020573973655700684,
                    "y": -7.801783084869385,
                    "z": 0.002594642573967576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045413970947266,
                "transform": {
                    "location": {
                        "x": 987.0849609375,
                        "y": 5162.28515625,
                        "z": 371.6630859375
                    },
                    "rotation": {
                        "roll": 0.0005915429792366922,
                        "pitch": -0.012451434507966042,
                        "yaw": -89.90023040771484
                    }
                },
                "velocity": {
                    "x": 0.014086857438087463,
                    "y": -8.045401573181152,
                    "z": -0.0016654300270602107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.401235580444336,
                "transform": {
                    "location": {
                        "x": 983.92578125,
                        "y": 5139.36474609375,
                        "z": 371.6205749511719
                    },
                    "rotation": {
                        "roll": 0.00041317055001854897,
                        "pitch": -0.007356113288551569,
                        "yaw": 90.11133575439453
                    }
                },
                "velocity": {
                    "x": -0.016534017398953438,
                    "y": 8.401217460632324,
                    "z": 0.005571536719799042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.152260780334473,
                "transform": {
                    "location": {
                        "x": 983.8923950195312,
                        "y": 5157.580078125,
                        "z": 371.6268005371094
                    },
                    "rotation": {
                        "roll": 0.00012401063577271998,
                        "pitch": -0.03402800112962723,
                        "yaw": 90.1064224243164
                    }
                },
                "velocity": {
                    "x": -0.013304268009960651,
                    "y": 7.152248382568359,
                    "z": 0.0018196773016825318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.15585286915302277,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6481018066406
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03281222656369209,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -7.338100840570405e-05,
                    "y": -7.368859951384366e-05,
                    "z": -0.15585282444953918
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10628776997327805,
        "expert_target_speed": 8.093781496226981,
        "target_point": [
            15.774248705609121,
            0.028401690459198242
        ],
        "target_point_next": [
            66.7731809983905,
            -0.31395609156954
        ]
    },
    "150": {
        "acceleration": [
            0.06848007440567017,
            0.015010833740234375,
            0.0020431517623364925
        ],
        "angular_velocity": [
            0.29521530866622925,
            -0.01507852878421545,
            2.395453929901123
        ],
        "forward_vector": [
            -0.006836877204477787,
            0.9999760389328003,
            -0.00109612918458879
        ],
        "right_vector": [
            -0.9999765753746033,
            -0.006837297230958939,
            -0.0003796655801124871
        ],
        "location": [
            984.0850830078125,
            5176.49365234375,
            371.6280822753906
        ],
        "rotation": [
            0.021753249689936638,
            -0.06280358880758286,
            90.39173126220703
        ],
        "velocity": [
            -0.03887823596596718,
            7.258846759796143,
            0.0019704627338796854
        ],
        "speed": 7.25895087457098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 48.2687873840332,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.004626274108887,
                "transform": {
                    "location": {
                        "x": 986.859375,
                        "y": 5242.482421875,
                        "z": 371.64080810546875
                    },
                    "rotation": {
                        "roll": -0.007049561012536287,
                        "pitch": 0.01777215115725994,
                        "yaw": -89.37896728515625
                    }
                },
                "velocity": {
                    "x": 0.0922306552529335,
                    "y": -8.003914833068848,
                    "z": 0.05360141769051552
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.19715690612793,
                "transform": {
                    "location": {
                        "x": 987.0126953125,
                        "y": 5201.62890625,
                        "z": 371.6308898925781
                    },
                    "rotation": {
                        "roll": 0.0025542958173900843,
                        "pitch": 0.0705285295844078,
                        "yaw": -89.8585205078125
                    }
                },
                "velocity": {
                    "x": 0.018879102542996407,
                    "y": -8.197134971618652,
                    "z": 0.001824235892854631
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011929512023926,
                "transform": {
                    "location": {
                        "x": 987.0884399414062,
                        "y": 5160.2783203125,
                        "z": 371.66259765625
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": -0.012205547653138638,
                        "yaw": -89.90023040771484
                    }
                },
                "velocity": {
                    "x": 0.013901795260608196,
                    "y": -8.011917114257812,
                    "z": -0.001796827302314341
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.875398635864258,
                "transform": {
                    "location": {
                        "x": 983.9216918945312,
                        "y": 5141.4326171875,
                        "z": 371.6215515136719
                    },
                    "rotation": {
                        "roll": 0.000142635268275626,
                        "pitch": -0.047824982553720474,
                        "yaw": 90.10855102539062
                    }
                },
                "velocity": {
                    "x": -0.01513781026005745,
                    "y": 7.875382423400879,
                    "z": 0.004780282732099295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.97049617767334,
                "transform": {
                    "location": {
                        "x": 983.8892211914062,
                        "y": 5159.3388671875,
                        "z": 371.6272277832031
                    },
                    "rotation": {
                        "roll": 0.0004251592617947608,
                        "pitch": -0.022218603640794754,
                        "yaw": 90.10305786132812
                    }
                },
                "velocity": {
                    "x": -0.01189493015408516,
                    "y": 6.970485687255859,
                    "z": 0.002145795850083232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.04892144724726677,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6204528808594
                    },
                    "rotation": {
                        "roll": 2.193631553382147e-05,
                        "pitch": -0.032532189041376114,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 1.5771493053762242e-05,
                    "y": -2.0150489945081063e-05,
                    "z": -0.04892143979668617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10314653813838959,
        "expert_target_speed": 8.020861077193699,
        "target_point": [
            13.954315798414493,
            0.05487750799665607
        ],
        "target_point_next": [
            64.95374481415918,
            -0.20308357944203687
        ]
    },
    "155": {
        "acceleration": [
            0.06438426673412323,
            0.38715362548828125,
            -0.0015544891357421875
        ],
        "angular_velocity": [
            0.21837376058101654,
            0.018841614946722984,
            -3.3959860801696777
        ],
        "forward_vector": [
            -0.004054221324622631,
            0.999991774559021,
            8.869171142578125e-05
        ],
        "right_vector": [
            -0.9999917149543762,
            -0.0040541840717196465,
            -0.0004163566045463085
        ],
        "location": [
            984.076904296875,
            5178.31689453125,
            371.6282043457031
        ],
        "rotation": [
            0.023855475708842278,
            0.005081660579890013,
            90.23229217529297
        ],
        "velocity": [
            -0.02235540747642517,
            7.330233573913574,
            0.0016021728515625
        ],
        "speed": 7.330267663078423,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.44776916503906,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.175354957580566,
                "transform": {
                    "location": {
                        "x": 986.881591796875,
                        "y": 5240.45947265625,
                        "z": 371.6481628417969
                    },
                    "rotation": {
                        "roll": -0.0020141596905887127,
                        "pitch": 0.027061207219958305,
                        "yaw": -89.34368133544922
                    }
                },
                "velocity": {
                    "x": 0.09118638932704926,
                    "y": -8.174833297729492,
                    "z": 0.014940118417143822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007017135620117,
                "transform": {
                    "location": {
                        "x": 987.0174560546875,
                        "y": 5199.59716796875,
                        "z": 371.631591796875
                    },
                    "rotation": {
                        "roll": 0.0001153492703451775,
                        "pitch": 0.00349022657610476,
                        "yaw": -89.86540985107422
                    }
                },
                "velocity": {
                    "x": 0.018707770854234695,
                    "y": -8.00699520111084,
                    "z": 0.0021990013774484396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04525375366211,
                "transform": {
                    "location": {
                        "x": 987.0919189453125,
                        "y": 5158.27099609375,
                        "z": 371.6621398925781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": -0.011870868504047394,
                        "yaw": -89.90047454833984
                    }
                },
                "velocity": {
                    "x": 0.013997887261211872,
                    "y": -8.045241355895996,
                    "z": -0.0025986384134739637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.846981048583984,
                "transform": {
                    "location": {
                        "x": 983.9185180664062,
                        "y": 5143.25341796875,
                        "z": 371.62237548828125
                    },
                    "rotation": {
                        "roll": 0.0007992802420631051,
                        "pitch": -0.10659875720739365,
                        "yaw": 90.09807586669922
                    }
                },
                "velocity": {
                    "x": -0.011991634964942932,
                    "y": 6.846970081329346,
                    "z": 0.0016892432468011975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.061907768249512,
                "transform": {
                    "location": {
                        "x": 983.8860473632812,
                        "y": 5161.08935546875,
                        "z": 371.627685546875
                    },
                    "rotation": {
                        "roll": 0.0004620016261469573,
                        "pitch": 0.01773116923868656,
                        "yaw": 90.10214233398438
                    }
                },
                "velocity": {
                    "x": -0.01262749545276165,
                    "y": 7.061896324157715,
                    "z": 0.001611089683137834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034797887201420963,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6166687011719
                    },
                    "rotation": {
                        "roll": 0.00014898518566042185,
                        "pitch": -0.03143252804875374,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 4.790085586137138e-05,
                    "y": -2.174149130951264e-06,
                    "z": 0.00034465937642380595
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09986259788274765,
        "expert_target_speed": 8.075573761186808,
        "target_point": [
            12.130848130616032,
            0.09300931413768523
        ],
        "target_point_next": [
            63.13079822374973,
            -0.022724658780079204
        ]
    },
    "160": {
        "acceleration": [
            0.06916002184152603,
            0.48241615295410156,
            -0.002339170314371586
        ],
        "angular_velocity": [
            0.10461962968111038,
            -0.002063213847577572,
            2.307983160018921
        ],
        "forward_vector": [
            -0.0022420103196054697,
            0.9999971985816956,
            0.0007640122203156352
        ],
        "right_vector": [
            -0.9999973773956299,
            -0.00224167644046247,
            -0.00043765889131464064
        ],
        "location": [
            984.0731811523438,
            5180.16357421875,
            371.62847900390625
        ],
        "rotation": [
            0.025076014921069145,
            0.04377467930316925,
            90.12845611572266
        ],
        "velocity": [
            -0.005520763341337442,
            7.442744731903076,
            0.0018675422761589289
        ],
        "speed": 7.442746779455745,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.60378646850586,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.969945907592773,
                "transform": {
                    "location": {
                        "x": 986.9041137695312,
                        "y": 5238.4423828125,
                        "z": 371.650390625
                    },
                    "rotation": {
                        "roll": 0.0007239667465910316,
                        "pitch": 0.025012152269482613,
                        "yaw": -89.36166381835938
                    }
                },
                "velocity": {
                    "x": 0.08649689704179764,
                    "y": -7.9694743156433105,
                    "z": 0.006148138083517551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.998124122619629,
                "transform": {
                    "location": {
                        "x": 987.0216674804688,
                        "y": 5197.6064453125,
                        "z": 371.63226318359375
                    },
                    "rotation": {
                        "roll": 0.0007259902195073664,
                        "pitch": 0.013680867850780487,
                        "yaw": -89.87914276123047
                    }
                },
                "velocity": {
                    "x": 0.015849392861127853,
                    "y": -7.99810791015625,
                    "z": 0.0020575427915900946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009483337402344,
                "transform": {
                    "location": {
                        "x": 987.095458984375,
                        "y": 5156.26416015625,
                        "z": 371.6617431640625
                    },
                    "rotation": {
                        "roll": -3.0516986953443848e-05,
                        "pitch": -0.012574377469718456,
                        "yaw": -89.9004135131836
                    }
                },
                "velocity": {
                    "x": 0.013998855836689472,
                    "y": -8.00947093963623,
                    "z": -0.0018151950789615512
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.486203670501709,
                "transform": {
                    "location": {
                        "x": 983.916015625,
                        "y": 5144.72412109375,
                        "z": 371.6229248046875
                    },
                    "rotation": {
                        "roll": 5.4454947530757636e-05,
                        "pitch": -0.15517506003379822,
                        "yaw": 90.08987426757812
                    }
                },
                "velocity": {
                    "x": -0.008916296064853668,
                    "y": 5.486196041107178,
                    "z": 0.0021109008230268955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.187007427215576,
                "transform": {
                    "location": {
                        "x": 983.8829956054688,
                        "y": 5162.8740234375,
                        "z": 371.6280822753906
                    },
                    "rotation": {
                        "roll": 0.00017553304496686906,
                        "pitch": 0.02791498228907585,
                        "yaw": 90.0970230102539
                    }
                },
                "velocity": {
                    "x": -0.012068493291735649,
                    "y": 7.186996936798096,
                    "z": 0.001409769058227539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001924229203723371,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6170654296875
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": -0.03070169873535633,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 1.4706851288792677e-05,
                    "y": 1.0434426258143503e-05,
                    "z": 0.0019241446861997247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10388188809156418,
        "expert_target_speed": 8.162152434499218,
        "target_point": [
            10.283975549290803,
            0.11547718326714354
        ],
        "target_point_next": [
            61.28405177574281,
            0.09248260347727388
        ]
    },
    "165": {
        "acceleration": [
            0.07231572270393372,
            0.5018234252929688,
            0.006002045702189207
        ],
        "angular_velocity": [
            0.028040505945682526,
            -0.06793628633022308,
            -3.3560311794281006
        ],
        "forward_vector": [
            0.000600293860770762,
            0.9999992847442627,
            0.001054286607541144
        ],
        "right_vector": [
            -0.9999997019767761,
            0.0006007783813402057,
            -0.0004592746263369918
        ],
        "location": [
            984.0734252929688,
            5182.041015625,
            371.6287841796875
        ],
        "rotation": [
            0.026314513757824898,
            0.060406189411878586,
            89.96560668945312
        ],
        "velocity": [
            0.01201747264713049,
            7.568117618560791,
            0.0020280457101762295
        ],
        "speed": 7.568127159873774,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.72956848144531,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.143598556518555,
                "transform": {
                    "location": {
                        "x": 986.9205322265625,
                        "y": 5236.42724609375,
                        "z": 371.65155029296875
                    },
                    "rotation": {
                        "roll": 0.0067597609013319016,
                        "pitch": 0.02811305783689022,
                        "yaw": -89.54945373535156
                    }
                },
                "velocity": {
                    "x": 0.05144692212343216,
                    "y": -8.143433570861816,
                    "z": 0.005914249457418919
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.09542179107666,
                "transform": {
                    "location": {
                        "x": 987.0256958007812,
                        "y": 5195.587890625,
                        "z": 371.63287353515625
                    },
                    "rotation": {
                        "roll": 0.0008777595357969403,
                        "pitch": 0.03370698168873787,
                        "yaw": -89.88676452636719
                    }
                },
                "velocity": {
                    "x": 0.01510601956397295,
                    "y": -8.095407485961914,
                    "z": 0.0028587435372173786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046939849853516,
                "transform": {
                    "location": {
                        "x": 987.0989379882812,
                        "y": 5154.2568359375,
                        "z": 371.6612548828125
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": -0.013612566515803337,
                        "yaw": -89.89743041992188
                    }
                },
                "velocity": {
                    "x": 0.014491860754787922,
                    "y": -8.046926498413086,
                    "z": -0.0017572689102962613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.592301845550537,
                "transform": {
                    "location": {
                        "x": 983.9136352539062,
                        "y": 5146.11181640625,
                        "z": 371.62353515625
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": -0.016296830028295517,
                        "yaw": 90.0936508178711
                    }
                },
                "velocity": {
                    "x": -0.009792564436793327,
                    "y": 5.592292785644531,
                    "z": 0.0022020339965820312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.317124843597412,
                "transform": {
                    "location": {
                        "x": 983.8800048828125,
                        "y": 5164.6806640625,
                        "z": 371.62847900390625
                    },
                    "rotation": {
                        "roll": -0.0008239733870141208,
                        "pitch": 0.03372064232826233,
                        "yaw": 90.09673309326172
                    }
                },
                "velocity": {
                    "x": -0.012295609340071678,
                    "y": 7.317113876342773,
                    "z": 0.0015876388642936945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.232544157886878e-05,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": 0.0008772075525484979,
                        "pitch": -0.03143252804875374,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.2786680599674582e-05,
                    "y": 4.0275881474372e-06,
                    "z": -7.107213605195284e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11279036849737167,
        "expert_target_speed": 8.257289231555063,
        "target_point": [
            8.406152184851472,
            0.14453832701824315
        ],
        "target_point_next": [
            59.40607709050637,
            0.2708849620136062
        ]
    },
    "170": {
        "acceleration": [
            0.07634412497282028,
            0.4975414276123047,
            -0.011429022997617722
        ],
        "angular_velocity": [
            0.00012040042201988399,
            -0.012048609554767609,
            2.2260384559631348
        ],
        "forward_vector": [
            0.002498459769412875,
            0.9999963045120239,
            0.0010719295823946595
        ],
        "right_vector": [
            -0.9999967813491821,
            0.0024989633820950985,
            -0.00046872705570422113
        ],
        "location": [
            984.0784301757812,
            5183.94921875,
            371.6290588378906
        ],
        "rotation": [
            0.02685610018670559,
            0.06141705811023712,
            89.85684967041016
        ],
        "velocity": [
            0.030602846294641495,
            7.693979263305664,
            0.0015896891709417105
        ],
        "speed": 7.6940401245625765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.82524108886719,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.307929992675781,
                "transform": {
                    "location": {
                        "x": 986.933349609375,
                        "y": 5234.447265625,
                        "z": 371.6529846191406
                    },
                    "rotation": {
                        "roll": 0.0029673054814338684,
                        "pitch": -0.02862532064318657,
                        "yaw": -89.64373016357422
                    }
                },
                "velocity": {
                    "x": 0.04323530197143555,
                    "y": -7.307801246643066,
                    "z": 0.003635253757238388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00478744506836,
                "transform": {
                    "location": {
                        "x": 987.0296630859375,
                        "y": 5193.57666015625,
                        "z": 371.6334533691406
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": 0.006406717002391815,
                        "yaw": -89.8884506225586
                    }
                },
                "velocity": {
                    "x": 0.015509876422584057,
                    "y": -8.004772186279297,
                    "z": 0.0024761485401540995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010232925415039,
                "transform": {
                    "location": {
                        "x": 987.1027221679688,
                        "y": 5152.25,
                        "z": 371.66070556640625
                    },
                    "rotation": {
                        "roll": -0.00018310443556401879,
                        "pitch": -0.01824343390762806,
                        "yaw": -89.89339447021484
                    }
                },
                "velocity": {
                    "x": 0.014867085963487625,
                    "y": -8.010218620300293,
                    "z": -0.0015548133524134755
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.807463645935059,
                "transform": {
                    "location": {
                        "x": 983.9105224609375,
                        "y": 5147.83056640625,
                        "z": 371.6244812011719
                    },
                    "rotation": {
                        "roll": -0.0006713797920383513,
                        "pitch": 0.26007992029190063,
                        "yaw": 90.11868286132812
                    }
                },
                "velocity": {
                    "x": -0.014085729606449604,
                    "y": 7.807450771331787,
                    "z": 0.0022859955206513405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.19859790802002,
                "transform": {
                    "location": {
                        "x": 983.8765258789062,
                        "y": 5166.61767578125,
                        "z": 371.6290588378906
                    },
                    "rotation": {
                        "roll": 0.0003682240785565227,
                        "pitch": 0.12402939796447754,
                        "yaw": 90.10485076904297
                    }
                },
                "velocity": {
                    "x": -0.014817425049841404,
                    "y": 8.198583602905273,
                    "z": 0.002182865049690008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009202058427035809,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": 5.721618435927667e-05,
                        "pitch": -0.0316169448196888,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -2.7080859581474215e-05,
                    "y": 1.121666264225496e-05,
                    "z": 0.000919738900847733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12334931641817093,
        "expert_target_speed": 8.351099382780475,
        "target_point": [
            57.49727489703183,
            0.37938715809861456
        ],
        "target_point_next": [
            73.49715255481986,
            0.4481684331474929
        ]
    },
    "175": {
        "acceleration": [
            0.07507883012294769,
            0.4134654998779297,
            0.014440536499023438
        ],
        "angular_velocity": [
            0.00033597074798308313,
            -0.010301521979272366,
            -3.313616991043091
        ],
        "forward_vector": [
            0.005400823429226875,
            0.999984860420227,
            0.0010609623277559876
        ],
        "right_vector": [
            -0.9999852776527405,
            0.0054013486951589584,
            -0.000492789433337748
        ],
        "location": [
            984.0879516601562,
            5185.88818359375,
            371.6292419433594
        ],
        "rotation": [
            0.02823477052152157,
            0.060788679867982864,
            89.6905517578125
        ],
        "velocity": [
            0.04958019778132439,
            7.8106536865234375,
            0.0021177958697080612
        ],
        "speed": 7.810811046672055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.890899658203125,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.006252765655518,
                "transform": {
                    "location": {
                        "x": 986.9420166015625,
                        "y": 5232.85205078125,
                        "z": 371.65423583984375
                    },
                    "rotation": {
                        "roll": 0.0031981931533664465,
                        "pitch": -0.09158600121736526,
                        "yaw": -89.64656829833984
                    }
                },
                "velocity": {
                    "x": 0.026021625846624374,
                    "y": -6.006196022033691,
                    "z": 0.0019105910323560238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050790786743164,
                "transform": {
                    "location": {
                        "x": 987.033203125,
                        "y": 5191.5712890625,
                        "z": 371.63397216796875
                    },
                    "rotation": {
                        "roll": 0.0012672985903918743,
                        "pitch": 0.01568894274532795,
                        "yaw": -89.89803314208984
                    }
                },
                "velocity": {
                    "x": 0.014324354939162731,
                    "y": -8.050777435302734,
                    "z": 0.0027103042230010033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046333312988281,
                "transform": {
                    "location": {
                        "x": 987.1064453125,
                        "y": 5150.2431640625,
                        "z": 371.6600646972656
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.017642376944422722,
                        "yaw": -89.89324188232422
                    }
                },
                "velocity": {
                    "x": 0.015043352730572224,
                    "y": -8.046319007873535,
                    "z": -0.0018644618103280663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.829818725585938,
                "transform": {
                    "location": {
                        "x": 983.9065551757812,
                        "y": 5149.90625,
                        "z": 371.6250305175781
                    },
                    "rotation": {
                        "roll": 2.1191066480241716e-05,
                        "pitch": 0.20776067674160004,
                        "yaw": 90.10355377197266
                    }
                },
                "velocity": {
                    "x": -0.017613006755709648,
                    "y": 8.829801559448242,
                    "z": 0.0015598201425746083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.674871444702148,
                "transform": {
                    "location": {
                        "x": 983.8729248046875,
                        "y": 5168.62158203125,
                        "z": 371.6292419433594
                    },
                    "rotation": {
                        "roll": 0.00013603515981230885,
                        "pitch": -0.018912792205810547,
                        "yaw": 90.10211181640625
                    }
                },
                "velocity": {
                    "x": -0.013019295409321785,
                    "y": 7.674860000610352,
                    "z": 0.001951255719177425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010223063873127103,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": -3.0515739126713015e-05,
                        "pitch": -0.030551433563232422,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 5.355920620786492e-06,
                    "y": 3.5144853427482303e-07,
                    "z": 0.0010222923010587692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14040380716323853,
        "expert_target_speed": 8.436012442464001,
        "target_point": [
            55.55695602239459,
            0.5440198475689987
        ],
        "target_point_next": [
            71.55656927942955,
            0.6588743350436661
        ]
    },
    "180": {
        "acceleration": [
            0.08120059967041016,
            0.3043365478515625,
            -0.005040168762207031
        ],
        "angular_velocity": [
            -0.10608990490436554,
            -0.033453818410634995,
            2.1661977767944336
        ],
        "forward_vector": [
            0.007370597682893276,
            0.9999725222587585,
            0.0007666348246857524
        ],
        "right_vector": [
            -0.9999727010726929,
            0.007370970211923122,
            -0.00048400743980892
        ],
        "location": [
            984.1024780273438,
            5187.85107421875,
            371.6293640136719
        ],
        "rotation": [
            0.02773159369826317,
            0.04392494261264801,
            89.57769012451172
        ],
        "velocity": [
            0.06934022158384323,
            7.888101577758789,
            0.0002567577175796032
        ],
        "speed": 7.8884063388855665,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.93352508544922,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.205069541931152,
                "transform": {
                    "location": {
                        "x": 986.9486694335938,
                        "y": 5231.32470703125,
                        "z": 371.654052734375
                    },
                    "rotation": {
                        "roll": 0.002176920184865594,
                        "pitch": 0.009678377769887447,
                        "yaw": -89.72726440429688
                    }
                },
                "velocity": {
                    "x": 0.022769834846258163,
                    "y": -6.205027103424072,
                    "z": 0.002608337439596653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04674243927002,
                "transform": {
                    "location": {
                        "x": 987.0368041992188,
                        "y": 5189.55712890625,
                        "z": 371.6343688964844
                    },
                    "rotation": {
                        "roll": 0.0007193501223810017,
                        "pitch": 0.012082603760063648,
                        "yaw": -89.89891815185547
                    }
                },
                "velocity": {
                    "x": 0.014235981740057468,
                    "y": -8.046730041503906,
                    "z": 0.0011432170867919922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009546279907227,
                "transform": {
                    "location": {
                        "x": 987.1102294921875,
                        "y": 5148.236328125,
                        "z": 371.6593933105469
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": -0.01760822720825672,
                        "yaw": -89.89309692382812
                    }
                },
                "velocity": {
                    "x": 0.01490974985063076,
                    "y": -8.00953197479248,
                    "z": -0.0021712302695959806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.590932846069336,
                "transform": {
                    "location": {
                        "x": 983.90234375,
                        "y": 5152.1337890625,
                        "z": 371.62554931640625
                    },
                    "rotation": {
                        "roll": 8.880580571712926e-05,
                        "pitch": 0.03418509662151337,
                        "yaw": 90.12397003173828
                    }
                },
                "velocity": {
                    "x": -0.016256604343652725,
                    "y": 8.590916633605957,
                    "z": 0.002070417394861579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.381385803222656,
                "transform": {
                    "location": {
                        "x": 983.8696899414062,
                        "y": 5170.47802734375,
                        "z": 371.6296691894531
                    },
                    "rotation": {
                        "roll": -0.0006408689077943563,
                        "pitch": -0.032375093549489975,
                        "yaw": 90.09701538085938
                    }
                },
                "velocity": {
                    "x": -0.012517423368990421,
                    "y": 7.381374835968018,
                    "z": 0.002519140252843499
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016390510136261582,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": 0.0009159575565718114,
                        "pitch": -0.03128226473927498,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 1.5213540791592095e-05,
                    "y": -5.2537861847667955e-06,
                    "z": 0.0016389719676226377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15622742474079132,
        "expert_target_speed": 8.489072365201423,
        "target_point": [
            53.59282569895766,
            0.6540656169098953
        ],
        "target_point_next": [
            69.59218020704535,
            0.8005963390014452
        ]
    },
    "185": {
        "acceleration": [
            0.07724806666374207,
            0.1781177520751953,
            -0.009396553039550781
        ],
        "angular_velocity": [
            -0.07132778316736221,
            0.021728841587901115,
            -3.286808490753174
        ],
        "forward_vector": [
            0.010314475744962692,
            0.9999467134475708,
            0.0004532336606644094
        ],
        "right_vector": [
            -0.9999467134475708,
            0.0103146992623806,
            -0.0004940580110996962
        ],
        "location": [
            984.1217651367188,
            5189.83251953125,
            371.6292419433594
        ],
        "rotation": [
            0.028307443484663963,
            0.02596837840974331,
            89.40901184082031
        ],
        "velocity": [
            0.08935921639204025,
            7.956103801727295,
            -0.0020138644613325596
        ],
        "speed": 7.956605606250301,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.95862579345703,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.488059997558594,
                "transform": {
                    "location": {
                        "x": 986.9557495117188,
                        "y": 5229.48291015625,
                        "z": 371.6531066894531
                    },
                    "rotation": {
                        "roll": 0.0006772137130610645,
                        "pitch": 0.20826612412929535,
                        "yaw": -89.7821044921875
                    }
                },
                "velocity": {
                    "x": 0.029463931918144226,
                    "y": -8.488008499145508,
                    "z": 0.0023871802259236574
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030160903930664,
                "transform": {
                    "location": {
                        "x": 987.0401611328125,
                        "y": 5187.548828125,
                        "z": 371.6344299316406
                    },
                    "rotation": {
                        "roll": 0.0002038937818724662,
                        "pitch": -0.0017075472278520465,
                        "yaw": -89.90579223632812
                    }
                },
                "velocity": {
                    "x": 0.013148916885256767,
                    "y": -8.030150413513184,
                    "z": 0.001629467005841434
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046585083007812,
                "transform": {
                    "location": {
                        "x": 987.1139526367188,
                        "y": 5146.22900390625,
                        "z": 371.6587829589844
                    },
                    "rotation": {
                        "roll": -0.00024414008657913655,
                        "pitch": -0.017580905929207802,
                        "yaw": -89.89324188232422
                    }
                },
                "velocity": {
                    "x": 0.014988577924668789,
                    "y": -8.046570777893066,
                    "z": -0.002318487036973238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.608300685882568,
                "transform": {
                    "location": {
                        "x": 983.8989868164062,
                        "y": 5154.13037109375,
                        "z": 371.62591552734375
                    },
                    "rotation": {
                        "roll": 0.0002948924957308918,
                        "pitch": -0.09942705929279327,
                        "yaw": 90.07745361328125
                    }
                },
                "velocity": {
                    "x": -0.01299920305609703,
                    "y": 7.6082892417907715,
                    "z": 0.0021431732457131147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.825881481170654,
                "transform": {
                    "location": {
                        "x": 983.866455078125,
                        "y": 5172.38818359375,
                        "z": 371.6302185058594
                    },
                    "rotation": {
                        "roll": -0.0004882820066995919,
                        "pitch": 0.05656079202890396,
                        "yaw": 90.09941864013672
                    }
                },
                "velocity": {
                    "x": -0.013513275422155857,
                    "y": 7.825869560241699,
                    "z": 0.0012669849675148726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008339035557582974,
                "transform": {
                    "location": {
                        "x": 983.8396606445312,
                        "y": 5243.57470703125,
                        "z": 371.6172180175781
                    },
                    "rotation": {
                        "roll": 0.00021465239115059376,
                        "pitch": -0.03149399906396866,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 1.1870146408909932e-05,
                    "y": 1.3897540156904142e-05,
                    "z": 0.0008337032049894333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.18286921083927155,
        "expert_target_speed": 8.533209720306074,
        "target_point": [
            51.60912846870374,
            0.8107202261391921
        ],
        "target_point_next": [
            67.60798211965762,
            1.0043636699784577
        ]
    },
    "190": {
        "acceleration": [
            0.07495775818824768,
            -0.35526275634765625,
            0.007589722517877817
        ],
        "angular_velocity": [
            -0.15231405198574066,
            5.959573172731325e-05,
            2.191148042678833
        ],
        "forward_vector": [
            0.0123214740306139,
            0.9999240636825562,
            -0.00010335444676456973
        ],
        "right_vector": [
            -0.9999239444732666,
            0.012321420013904572,
            -0.0005048970924690366
        ],
        "location": [
            984.146240234375,
            5191.81787109375,
            371.6289367675781
        ],
        "rotation": [
            0.028928471729159355,
            -0.005921773612499237,
            89.29401397705078
        ],
        "velocity": [
            0.10856107622385025,
            7.910862922668457,
            -0.0017944526625797153
        ],
        "speed": 7.9116077815145385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.981040954589844,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.191733360290527,
                "transform": {
                    "location": {
                        "x": 986.9629516601562,
                        "y": 5227.36669921875,
                        "z": 371.6553039550781
                    },
                    "rotation": {
                        "roll": 0.0010894289007410407,
                        "pitch": 0.05156109482049942,
                        "yaw": -89.80580139160156
                    }
                },
                "velocity": {
                    "x": 0.0232053492218256,
                    "y": -8.191699981689453,
                    "z": 0.002176952315494418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047364234924316,
                "transform": {
                    "location": {
                        "x": 987.0433959960938,
                        "y": 5185.5390625,
                        "z": 371.634521484375
                    },
                    "rotation": {
                        "roll": 0.00048077083192765713,
                        "pitch": -0.0030872453935444355,
                        "yaw": -89.90599822998047
                    }
                },
                "velocity": {
                    "x": 0.013244080357253551,
                    "y": -8.047353744506836,
                    "z": -0.0013089084532111883
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009986877441406,
                "transform": {
                    "location": {
                        "x": 987.1175537109375,
                        "y": 5144.2216796875,
                        "z": 371.6580505371094
                    },
                    "rotation": {
                        "roll": -9.155221778200939e-05,
                        "pitch": -0.021146263927221298,
                        "yaw": -89.896728515625
                    }
                },
                "velocity": {
                    "x": 0.014463858678936958,
                    "y": -8.009974479675293,
                    "z": -0.0018655871972441673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.110376358032227,
                "transform": {
                    "location": {
                        "x": 983.8955078125,
                        "y": 5156.07373046875,
                        "z": 371.6265563964844
                    },
                    "rotation": {
                        "roll": -3.051908061024733e-05,
                        "pitch": 0.04367222636938095,
                        "yaw": 90.11437225341797
                    }
                },
                "velocity": {
                    "x": -0.013728841207921505,
                    "y": 8.110363960266113,
                    "z": 0.0026124001014977694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.664928913116455,
                "transform": {
                    "location": {
                        "x": 983.8630981445312,
                        "y": 5174.3310546875,
                        "z": 371.6305847167969
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.0041459244675934315,
                        "yaw": 90.09907531738281
                    }
                },
                "velocity": {
                    "x": -0.013299848884344101,
                    "y": 7.6649169921875,
                    "z": 0.0014499758835881948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9560426473617554,
                "transform": {
                    "location": {
                        "x": 983.8385620117188,
                        "y": 5243.6396484375,
                        "z": 371.6178894042969
                    },
                    "rotation": {
                        "roll": 0.002354395342990756,
                        "pitch": -0.11324453353881836,
                        "yaw": 90.06732940673828
                    }
                },
                "velocity": {
                    "x": -0.01121848076581955,
                    "y": 0.9559767842292786,
                    "z": 0.0002830886805895716
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.718505859375
                    },
                    "rotation": {
                        "roll": -1.6675270053667646e-09,
                        "pitch": -0.04117237776517868,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20799244940280914,
        "expert_target_speed": 8.490717170381128,
        "target_point": [
            49.62189585795135,
            0.9142560646505498
        ],
        "target_point_next": [
            65.6203288582739,
            1.1399936604837708
        ]
    },
    "195": {
        "acceleration": [
            0.07120639085769653,
            -0.525054931640625,
            -0.001799585297703743
        ],
        "angular_velocity": [
            -0.12578201293945312,
            -0.0036698158364742994,
            -3.3616604804992676
        ],
        "forward_vector": [
            0.01528925821185112,
            0.9998828172683716,
            -0.0007818936137482524
        ],
        "right_vector": [
            -0.9998829960823059,
            0.01528885681182146,
            -0.0005174618563614786
        ],
        "location": [
            984.175048828125,
            5193.78125,
            371.6285400390625
        ],
        "rotation": [
            0.029648391529917717,
            -0.044799208641052246,
            89.12395477294922
        ],
        "velocity": [
            0.1263987272977829,
            7.794030666351318,
            -0.0022461700718849897
        ],
        "speed": 7.795055526825148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.026731491088867,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.738829135894775,
                "transform": {
                    "location": {
                        "x": 986.968505859375,
                        "y": 5225.39892578125,
                        "z": 371.6565856933594
                    },
                    "rotation": {
                        "roll": 0.001947363605722785,
                        "pitch": -0.008763132616877556,
                        "yaw": -89.84046173095703
                    }
                },
                "velocity": {
                    "x": 0.019433889538049698,
                    "y": -7.738804340362549,
                    "z": 0.002749023260548711
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039863586425781,
                "transform": {
                    "location": {
                        "x": 987.0466918945312,
                        "y": 5183.52783203125,
                        "z": 371.6342468261719
                    },
                    "rotation": {
                        "roll": -0.00045776396291330457,
                        "pitch": -0.007144377566874027,
                        "yaw": -89.90612030029297
                    }
                },
                "velocity": {
                    "x": 0.013132790103554726,
                    "y": -8.0398530960083,
                    "z": -0.0017777633620426059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045815467834473,
                "transform": {
                    "location": {
                        "x": 987.1209716796875,
                        "y": 5142.21484375,
                        "z": 371.6572265625
                    },
                    "rotation": {
                        "roll": 0.0006204416858963668,
                        "pitch": -0.02820185013115406,
                        "yaw": -89.90162658691406
                    }
                },
                "velocity": {
                    "x": 0.012249849736690521,
                    "y": -8.045805931091309,
                    "z": -0.002434959402307868
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.670873641967773,
                "transform": {
                    "location": {
                        "x": 983.891845703125,
                        "y": 5158.21484375,
                        "z": 371.6271057128906
                    },
                    "rotation": {
                        "roll": 0.0006639864877797663,
                        "pitch": 0.08881977200508118,
                        "yaw": 90.08773040771484
                    }
                },
                "velocity": {
                    "x": -0.015541556291282177,
                    "y": 8.670859336853027,
                    "z": 0.0018620300106704235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.5449748039245605,
                "transform": {
                    "location": {
                        "x": 983.8597412109375,
                        "y": 5176.2265625,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0002226572105428204,
                        "pitch": -0.0020149056799709797,
                        "yaw": 90.10150146484375
                    }
                },
                "velocity": {
                    "x": -0.012604051269590855,
                    "y": 7.54496431350708,
                    "z": 0.0012414359953254461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.107881546020508,
                "transform": {
                    "location": {
                        "x": 983.8346557617188,
                        "y": 5244.04443359375,
                        "z": 371.6179504394531
                    },
                    "rotation": {
                        "roll": 0.0027618866879493,
                        "pitch": -0.14864540100097656,
                        "yaw": 90.18772888183594
                    }
                },
                "velocity": {
                    "x": -0.025955356657505035,
                    "y": 2.1077208518981934,
                    "z": -0.0018113231053575873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8192273378372192,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0001220729755004868,
                        "pitch": -0.04098113253712654,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -0.00018211567657999694,
                    "y": -0.0005957293906249106,
                    "z": -0.8192270994186401
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2487594336271286,
        "expert_target_speed": 8.392813471353742,
        "target_point": [
            47.65537207149138,
            1.0603954746995725
        ],
        "target_point_next": [
            63.65306414245028,
            1.333643220821941
        ]
    },
    "200": {
        "acceleration": [
            0.05845099687576294,
            -0.8060169219970703,
            -0.004321672022342682
        ],
        "angular_velocity": [
            -0.12481766939163208,
            -0.014056820422410965,
            2.3066999912261963
        ],
        "forward_vector": [
            0.017223400995135307,
            0.9998508095741272,
            -0.0012862677685916424
        ],
        "right_vector": [
            -0.9998515248298645,
            0.017222750931978226,
            -0.0005159138236194849
        ],
        "location": [
            984.2084350585938,
            5195.71044921875,
            371.62811279296875
        ],
        "rotation": [
            0.029559707269072533,
            -0.07369773834943771,
            89.01312255859375
        ],
        "velocity": [
            0.14241807162761688,
            7.635720252990723,
            -0.0017708492232486606
        ],
        "speed": 7.637048296891859,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.10812759399414,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.229508399963379,
                "transform": {
                    "location": {
                        "x": 986.9735107421875,
                        "y": 5223.39794921875,
                        "z": 371.6568603515625
                    },
                    "rotation": {
                        "roll": 0.001446338021196425,
                        "pitch": 0.050113096833229065,
                        "yaw": -89.85778045654297
                    }
                },
                "velocity": {
                    "x": 0.018875714391469955,
                    "y": -8.229486465454102,
                    "z": 0.001953821163624525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03695011138916,
                "transform": {
                    "location": {
                        "x": 987.0499877929688,
                        "y": 5181.51904296875,
                        "z": 371.6339111328125
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.01141324546188116,
                        "yaw": -89.90606689453125
                    }
                },
                "velocity": {
                    "x": 0.013154149986803532,
                    "y": -8.036938667297363,
                    "z": -0.0014636516571044922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011687278747559,
                "transform": {
                    "location": {
                        "x": 987.1243286132812,
                        "y": 5140.20751953125,
                        "z": 371.65625
                    },
                    "rotation": {
                        "roll": -0.0005798357306048274,
                        "pitch": -0.028905358165502548,
                        "yaw": -89.90441131591797
                    }
                },
                "velocity": {
                    "x": 0.013380587100982666,
                    "y": -8.011674880981445,
                    "z": -0.004302940331399441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.72977352142334,
                "transform": {
                    "location": {
                        "x": 983.8880004882812,
                        "y": 5160.2783203125,
                        "z": 371.6273498535156
                    },
                    "rotation": {
                        "roll": -0.0004882856155745685,
                        "pitch": -0.08196909725666046,
                        "yaw": 90.12301635742188
                    }
                },
                "velocity": {
                    "x": -0.014196041040122509,
                    "y": 7.72976016998291,
                    "z": 0.0022865580394864082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.47633695602417,
                "transform": {
                    "location": {
                        "x": 983.8564453125,
                        "y": 5178.10791015625,
                        "z": 371.6314392089844
                    },
                    "rotation": {
                        "roll": 0.00036778193316422403,
                        "pitch": -0.00027320755179971457,
                        "yaw": 90.09950256347656
                    }
                },
                "velocity": {
                    "x": -0.013064849190413952,
                    "y": 7.476325511932373,
                    "z": 0.0013086318504065275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.007751703262329,
                "transform": {
                    "location": {
                        "x": 983.8279418945312,
                        "y": 5244.68798828125,
                        "z": 371.6174011230469
                    },
                    "rotation": {
                        "roll": 0.0019675330258905888,
                        "pitch": -0.12743766605854034,
                        "yaw": 90.32621765136719
                    }
                },
                "velocity": {
                    "x": -0.0367056205868721,
                    "y": 3.0075273513793945,
                    "z": -0.0015482425224035978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04091709479689598,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6029357910156
                    },
                    "rotation": {
                        "roll": -0.000854490848723799,
                        "pitch": -0.04040739685297012,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -0.00018013155204243958,
                    "y": -3.968878445448354e-05,
                    "z": -0.04091668128967285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28274619579315186,
        "expert_target_speed": 8.259650371629013,
        "target_point": [
            45.723746204796974,
            1.1526216879272275
        ],
        "target_point_next": [
            61.72088046091475,
            1.4567787521650863
        ]
    },
    "205": {
        "acceleration": [
            0.035409629344940186,
            -1.7073726654052734,
            -0.007890891283750534
        ],
        "angular_velocity": [
            -0.29081496596336365,
            0.03827660158276558,
            -3.4885034561157227
        ],
        "forward_vector": [
            0.020094256848096848,
            0.9997954964637756,
            -0.002260444452986121
        ],
        "right_vector": [
            -0.9997979402542114,
            0.020093202590942383,
            -0.0004883582587353885
        ],
        "location": [
            984.2449951171875,
            5197.5791015625,
            371.6276550292969
        ],
        "rotation": [
            0.027980942279100418,
            -0.12951403856277466,
            88.84860229492188
        ],
        "velocity": [
            0.1537344753742218,
            7.293708801269531,
            -0.0021955680567771196
        ],
        "speed": 7.295328804559477,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.25162696838379,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.971934795379639,
                "transform": {
                    "location": {
                        "x": 986.978271484375,
                        "y": 5221.3642578125,
                        "z": 371.6578674316406
                    },
                    "rotation": {
                        "roll": 0.0027596168220043182,
                        "pitch": 0.01172060426324606,
                        "yaw": -89.86982727050781
                    }
                },
                "velocity": {
                    "x": 0.016651608049869537,
                    "y": -7.971917152404785,
                    "z": 0.002234573243185878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045002937316895,
                "transform": {
                    "location": {
                        "x": 987.0532836914062,
                        "y": 5179.50830078125,
                        "z": 371.6334228515625
                    },
                    "rotation": {
                        "roll": 0.00012905530456919223,
                        "pitch": -0.01159766037017107,
                        "yaw": -89.90609741210938
                    }
                },
                "velocity": {
                    "x": 0.013203184120357037,
                    "y": -8.044991493225098,
                    "z": -0.001972255762666464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044208526611328,
                "transform": {
                    "location": {
                        "x": 987.127685546875,
                        "y": 5138.20068359375,
                        "z": 371.65521240234375
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": -0.02871411293745041,
                        "yaw": -89.90441131591797
                    }
                },
                "velocity": {
                    "x": 0.013401859439909458,
                    "y": -8.044195175170898,
                    "z": -0.005752124823629856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8640828132629395,
                "transform": {
                    "location": {
                        "x": 983.8849487304688,
                        "y": 5162.07958984375,
                        "z": 371.627685546875
                    },
                    "rotation": {
                        "roll": 0.0011982136638835073,
                        "pitch": -0.11544384807348251,
                        "yaw": 90.0794906616211
                    }
                },
                "velocity": {
                    "x": -0.010906236246228218,
                    "y": 6.864073753356934,
                    "z": 0.0015637970063835382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.532142639160156,
                "transform": {
                    "location": {
                        "x": 983.8532104492188,
                        "y": 5179.9638671875,
                        "z": 371.63189697265625
                    },
                    "rotation": {
                        "roll": 0.0007171732140704989,
                        "pitch": 0.018871812149882317,
                        "yaw": 90.09932708740234
                    }
                },
                "velocity": {
                    "x": -0.013126363046467304,
                    "y": 7.532130718231201,
                    "z": 0.0022317790426313877
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.113872528076172,
                "transform": {
                    "location": {
                        "x": 983.8181762695312,
                        "y": 5245.58056640625,
                        "z": 371.6169738769531
                    },
                    "rotation": {
                        "roll": 0.00162543635815382,
                        "pitch": -0.13858452439308167,
                        "yaw": 90.45899963378906
                    }
                },
                "velocity": {
                    "x": -0.05041583999991417,
                    "y": 4.113563060760498,
                    "z": -0.002103872364386916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009383268770761788,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.600341796875
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.04043471813201904,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 6.48698346594756e-07,
                    "y": -3.336510417284444e-05,
                    "z": -0.0009377332753501832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3441261351108551,
        "expert_target_speed": 7.981372585938665,
        "target_point": [
            43.85124221751046,
            1.2827777724884493
        ],
        "target_point_next": [
            59.84743821591306,
            1.6328199251947462
        ]
    },
    "210": {
        "acceleration": [
            -0.009079575538635254,
            -1.8209552764892578,
            0.0020248442888259888
        ],
        "angular_velocity": [
            -0.1490330845117569,
            -0.023015134036540985,
            2.6892945766448975
        ],
        "forward_vector": [
            0.021728070452809334,
            0.9997583627700806,
            -0.0033209261018782854
        ],
        "right_vector": [
            -0.9997639060020447,
            0.021726813167333603,
            -0.000414750975323841
        ],
        "location": [
            984.2837524414062,
            5199.341796875,
            371.6272888183594
        ],
        "rotation": [
            0.023763611912727356,
            -0.1902754008769989,
            88.75496673583984
        ],
        "velocity": [
            0.15735504031181335,
            6.830910682678223,
            -0.0021866129245609045
        ],
        "speed": 6.832722836720292,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.50252914428711,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.986152648925781,
                "transform": {
                    "location": {
                        "x": 986.9824829101562,
                        "y": 5219.3818359375,
                        "z": 371.6585388183594
                    },
                    "rotation": {
                        "roll": 0.0011271480470895767,
                        "pitch": 0.014493661001324654,
                        "yaw": -89.87816619873047
                    }
                },
                "velocity": {
                    "x": 0.015493717044591904,
                    "y": -7.986137390136719,
                    "z": 0.002115344861522317
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037620544433594,
                "transform": {
                    "location": {
                        "x": 987.056640625,
                        "y": 5177.498046875,
                        "z": 371.63299560546875
                    },
                    "rotation": {
                        "roll": -0.0002441400574753061,
                        "pitch": -0.01294320821762085,
                        "yaw": -89.90599822998047
                    }
                },
                "velocity": {
                    "x": 0.013144527561962605,
                    "y": -8.037610054016113,
                    "z": -0.0013018130557611585
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.012022018432617,
                "transform": {
                    "location": {
                        "x": 987.1311645507812,
                        "y": 5136.19384765625,
                        "z": 371.6541748046875
                    },
                    "rotation": {
                        "roll": -0.0005493166390806437,
                        "pitch": -0.028905358165502548,
                        "yaw": -89.90110778808594
                    }
                },
                "velocity": {
                    "x": 0.013820220716297626,
                    "y": -8.012007713317871,
                    "z": -0.005210151430219412
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.257767677307129,
                "transform": {
                    "location": {
                        "x": 983.8818359375,
                        "y": 5163.8203125,
                        "z": 371.6283264160156
                    },
                    "rotation": {
                        "roll": 0.0005413909093476832,
                        "pitch": 0.0286321509629488,
                        "yaw": 90.11894989013672
                    }
                },
                "velocity": {
                    "x": -0.012681207619607449,
                    "y": 7.257756233215332,
                    "z": 0.0021832657512277365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.299281120300293,
                "transform": {
                    "location": {
                        "x": 983.8496704101562,
                        "y": 5181.96044921875,
                        "z": 371.6324157714844
                    },
                    "rotation": {
                        "roll": 0.0005764815723523498,
                        "pitch": 0.10635969787836075,
                        "yaw": 90.10380554199219
                    }
                },
                "velocity": {
                    "x": -0.014922910369932652,
                    "y": 8.299267768859863,
                    "z": 0.002110977191478014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0172295570373535,
                "transform": {
                    "location": {
                        "x": 983.8048095703125,
                        "y": 5246.7451171875,
                        "z": 371.6163330078125
                    },
                    "rotation": {
                        "roll": 0.001044661388732493,
                        "pitch": -0.13064102828502655,
                        "yaw": 90.56639099121094
                    }
                },
                "velocity": {
                    "x": -0.06174198165535927,
                    "y": 5.016848564147949,
                    "z": 0.003471107454970479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019143903627991676,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.600341796875
                    },
                    "rotation": {
                        "roll": -0.0005798341589979827,
                        "pitch": -0.04037324711680412,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 0.00015874260861892253,
                    "y": 3.287904473836534e-05,
                    "z": 0.001907514175400138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40280309319496155,
        "expert_target_speed": 7.597001570845981,
        "target_point": [
            42.085959701917574,
            1.3550859535375568
        ],
        "target_point_next": [
            58.08156053768197,
            1.7313436190751674
        ]
    },
    "215": {
        "acceleration": [
            -0.03294408321380615,
            -1.3441181182861328,
            -0.00795822124928236
        ],
        "angular_velocity": [
            0.0807771310210228,
            0.04611781984567642,
            -3.1238324642181396
        ],
        "forward_vector": [
            0.02264038473367691,
            0.9997379183769226,
            -0.0033971003722399473
        ],
        "right_vector": [
            -0.9997437000274658,
            0.022640179842710495,
            -9.854905511019751e-05
        ],
        "location": [
            984.3206787109375,
            5200.99658203125,
            371.6267395019531
        ],
        "rotation": [
            0.0056464774534106255,
            -0.1946398913860321,
            88.70268249511719
        ],
        "velocity": [
            0.14352838695049286,
            6.446122169494629,
            -0.0019929504487663507
        ],
        "speed": 6.447719862238957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.862451553344727,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.086523056030273,
                "transform": {
                    "location": {
                        "x": 986.9866333007812,
                        "y": 5217.36474609375,
                        "z": 371.6590576171875
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": 0.029520075768232346,
                        "yaw": -89.88445281982422
                    }
                },
                "velocity": {
                    "x": 0.016276678070425987,
                    "y": -8.086505889892578,
                    "z": 0.0023961449041962624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041975975036621,
                "transform": {
                    "location": {
                        "x": 987.06005859375,
                        "y": 5175.48828125,
                        "z": 371.6325378417969
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": -0.012267018668353558,
                        "yaw": -89.89967346191406
                    }
                },
                "velocity": {
                    "x": 0.01419628132134676,
                    "y": -8.041962623596191,
                    "z": -0.002304773312062025
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045982360839844,
                "transform": {
                    "location": {
                        "x": 987.134765625,
                        "y": 5134.1865234375,
                        "z": 371.6530456542969
                    },
                    "rotation": {
                        "roll": -0.0006408705958165228,
                        "pitch": -0.032136037945747375,
                        "yaw": -89.89803314208984
                    }
                },
                "velocity": {
                    "x": 0.014410194009542465,
                    "y": -8.045968055725098,
                    "z": -0.005059833638370037
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.388408660888672,
                "transform": {
                    "location": {
                        "x": 983.8783569335938,
                        "y": 5165.77734375,
                        "z": 371.62884521484375
                    },
                    "rotation": {
                        "roll": 0.0006281861569732428,
                        "pitch": 0.15380218625068665,
                        "yaw": 90.0970230102539
                    }
                },
                "velocity": {
                    "x": -0.014773192815482616,
                    "y": 8.388395309448242,
                    "z": 0.0018285178812220693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.365581035614014,
                "transform": {
                    "location": {
                        "x": 983.8461303710938,
                        "y": 5183.9326171875,
                        "z": 371.6324462890625
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07839690893888474,
                        "yaw": 90.10015106201172
                    }
                },
                "velocity": {
                    "x": -0.013089928776025772,
                    "y": 7.365569114685059,
                    "z": 0.001131029101088643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.416252613067627,
                "transform": {
                    "location": {
                        "x": 983.7908325195312,
                        "y": 5247.921875,
                        "z": 371.6144714355469
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.0027798868250101805,
                        "yaw": 90.629150390625
                    }
                },
                "velocity": {
                    "x": -0.054888248443603516,
                    "y": 4.415910720825195,
                    "z": -0.0024664688389748335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016570503357797861,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004333496094
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.04080354794859886,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -0.00010545227269176394,
                    "y": -6.822105206083506e-06,
                    "z": 0.0016536774346604943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4667455852031708,
        "expert_target_speed": 7.2650277751435794,
        "target_point": [
            40.42951472805104,
            1.3927590392219935
        ],
        "target_point_next": [
            56.42476727471384,
            1.783542734454655
        ]
    },
    "220": {
        "acceleration": [
            -0.036486685276031494,
            -1.0276317596435547,
            0.011042021214962006
        ],
        "angular_velocity": [
            0.12139218300580978,
            -0.032089199870824814,
            3.362107515335083
        ],
        "forward_vector": [
            0.02178948186337948,
            0.9997584819793701,
            -0.002873058896511793
        ],
        "right_vector": [
            -0.9997625946998596,
            0.02178950607776642,
            -2.2777237973059528e-05
        ],
        "location": [
            984.3555297851562,
            5202.5712890625,
            371.62615966796875
        ],
        "rotation": [
            0.0013050449779257178,
            -0.16461437940597534,
            88.75144958496094
        ],
        "velocity": [
            0.13505955040454865,
            6.167502403259277,
            -0.0014560127165168524
        ],
        "speed": 6.168981032258443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.30377960205078,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.076406240463257,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.6908874511719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03814660385251045,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 5.583854544966016e-06,
                    "y": -0.0013578706420958042,
                    "z": -2.0764057636260986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.999286651611328,
                "transform": {
                    "location": {
                        "x": 986.9902954101562,
                        "y": 5215.35546875,
                        "z": 371.6598815917969
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": 0.012164566665887833,
                        "yaw": -89.8960189819336
                    }
                },
                "velocity": {
                    "x": 0.014513373374938965,
                    "y": -7.999273300170898,
                    "z": 0.002634143689647317
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039721488952637,
                "transform": {
                    "location": {
                        "x": 987.0637817382812,
                        "y": 5173.4775390625,
                        "z": 371.6321105957031
                    },
                    "rotation": {
                        "roll": -0.00033569353399798274,
                        "pitch": -0.0118093965575099,
                        "yaw": -89.89263153076172
                    }
                },
                "velocity": {
                    "x": 0.015159794129431248,
                    "y": -8.03970718383789,
                    "z": -0.0014916706131771207
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009634017944336,
                "transform": {
                    "location": {
                        "x": 987.138427734375,
                        "y": 5132.1796875,
                        "z": 371.6518249511719
                    },
                    "rotation": {
                        "roll": 0.00037850358057767153,
                        "pitch": -0.04071475565433502,
                        "yaw": -89.89360046386719
                    }
                },
                "velocity": {
                    "x": 0.01486213505268097,
                    "y": -8.009618759155273,
                    "z": -0.005415391642600298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.193611145019531,
                "transform": {
                    "location": {
                        "x": 983.874267578125,
                        "y": 5167.89990234375,
                        "z": 371.62921142578125
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.02284698188304901,
                        "yaw": 90.12735748291016
                    }
                },
                "velocity": {
                    "x": -0.015527182258665562,
                    "y": 8.193595886230469,
                    "z": 0.0021838760003447533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.573209762573242,
                "transform": {
                    "location": {
                        "x": 983.8433227539062,
                        "y": 5185.58447265625,
                        "z": 371.6324157714844
                    },
                    "rotation": {
                        "roll": 0.00025249258032999933,
                        "pitch": -0.24844811856746674,
                        "yaw": 90.0857925415039
                    }
                },
                "velocity": {
                    "x": -0.006827256642282009,
                    "y": 5.573205471038818,
                    "z": 0.0011962890857830644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.565711498260498,
                "transform": {
                    "location": {
                        "x": 983.7793579101562,
                        "y": 5249.009765625,
                        "z": 371.6141357421875
                    },
                    "rotation": {
                        "roll": -0.006683351006358862,
                        "pitch": -0.0353667177259922,
                        "yaw": 90.60311126708984
                    }
                },
                "velocity": {
                    "x": -0.030823728069663048,
                    "y": 4.565607070922852,
                    "z": -0.0019963074009865522
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013506516115739942,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004333496094
                    },
                    "rotation": {
                        "roll": -0.00033569318475201726,
                        "pitch": -0.04095381125807762,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 7.273211667779833e-05,
                    "y": 8.979364793049172e-06,
                    "z": 0.00134866195730865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48772427439689636,
        "expert_target_speed": 7.011819684752528,
        "target_point": [
            38.85559589953792,
            1.3587961514662399
        ],
        "target_point_next": [
            54.85117607868466,
            1.735930955575026
        ]
    },
    "225": {
        "acceleration": [
            -0.02263009548187256,
            -0.8977603912353516,
            -0.0006389617919921875
        ],
        "angular_velocity": [
            0.09110282361507416,
            0.012156981974840164,
            -3.2602779865264893
        ],
        "forward_vector": [
            0.022053848952054977,
            0.9997538328170776,
            -0.002408025087788701
        ],
        "right_vector": [
            -0.9997567534446716,
            0.022053958848118782,
            1.8642165741766803e-05
        ],
        "location": [
            984.3883666992188,
            5204.08251953125,
            371.62554931640625
        ],
        "rotation": [
            -0.001068120589479804,
            -0.13796980679035187,
            88.7363052368164
        ],
        "velocity": [
            0.12825237214565277,
            5.9357123374938965,
            -0.001931590959429741
        ],
        "speed": 5.93709774422135,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.810178756713867,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13962537050247192,
                "transform": {
                    "location": {
                        "x": 986.8150024414062,
                        "y": 5257.45166015625,
                        "z": 371.60931396484375
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": 0.03766849264502525,
                        "yaw": -89.89772033691406
                    }
                },
                "velocity": {
                    "x": 0.000255262857535854,
                    "y": 9.050155495060608e-05,
                    "z": 0.13962511718273163
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016006469726562,
                "transform": {
                    "location": {
                        "x": 986.993896484375,
                        "y": 5213.35693359375,
                        "z": 371.66046142578125
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 0.021112114191055298,
                        "yaw": -89.89679718017578
                    }
                },
                "velocity": {
                    "x": 0.014465870335698128,
                    "y": -8.015993118286133,
                    "z": 0.001817626878619194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041178703308105,
                "transform": {
                    "location": {
                        "x": 987.067626953125,
                        "y": 5171.4677734375,
                        "z": 371.6316223144531
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": -0.01159766037017107,
                        "yaw": -89.88909149169922
                    }
                },
                "velocity": {
                    "x": 0.014732441864907742,
                    "y": -8.041165351867676,
                    "z": -0.0022962093353271484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0864868164062,
                        "y": 5130.09716796875,
                        "z": 371.6315002441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.040222980082035065,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.008418560028076,
                "transform": {
                    "location": {
                        "x": 983.8709716796875,
                        "y": 5169.78857421875,
                        "z": 371.62939453125
                    },
                    "rotation": {
                        "roll": -0.00024413982464466244,
                        "pitch": -0.12872856855392456,
                        "yaw": 90.07401275634766
                    }
                },
                "velocity": {
                    "x": -0.011632983572781086,
                    "y": 7.008408546447754,
                    "z": 0.0016124153044074774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.074126720428467,
                "transform": {
                    "location": {
                        "x": 983.8407592773438,
                        "y": 5186.8515625,
                        "z": 371.6326599121094
                    },
                    "rotation": {
                        "roll": -0.00027465878520160913,
                        "pitch": -0.10998652875423431,
                        "yaw": 90.13270568847656
                    }
                },
                "velocity": {
                    "x": -0.010195910930633545,
                    "y": 5.074116230010986,
                    "z": 0.0012864302843809128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.60912561416626,
                "transform": {
                    "location": {
                        "x": 983.770263671875,
                        "y": 5250.1953125,
                        "z": 371.6135559082031
                    },
                    "rotation": {
                        "roll": -0.0018005374586209655,
                        "pitch": -0.044771887362003326,
                        "yaw": 90.51210021972656
                    }
                },
                "velocity": {
                    "x": -0.03206070885062218,
                    "y": 4.60901403427124,
                    "z": -0.0012352562043815851
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005954592488706112,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.0004577661748044193,
                        "pitch": -0.04053033888339996,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.1011948117811698e-05,
                    "y": -1.939535195560893e-06,
                    "z": 0.0005953542422503233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5278295874595642,
        "expert_target_speed": 6.830376856996494,
        "target_point": [
            37.34364523465084,
            1.3686555688461004
        ],
        "target_point_next": [
            53.33912431953064,
            1.7500540129376998
        ]
    },
    "230": {
        "acceleration": [
            -0.03201588988304138,
            -0.8318710327148438,
            -0.00036449404433369637
        ],
        "angular_velocity": [
            0.033600471913814545,
            -0.03403211012482643,
            3.4478378295898438
        ],
        "forward_vector": [
            0.021198023110628128,
            0.9997730255126953,
            -0.002133248606696725
        ],
        "right_vector": [
            -0.9997752904891968,
            0.02119811624288559,
            2.077256613119971e-05
        ],
        "location": [
            984.419677734375,
            5205.53857421875,
            371.625
        ],
        "rotation": [
            -0.0011901831021532416,
            -0.12222623080015182,
            88.78534698486328
        ],
        "velocity": [
            0.1214970052242279,
            5.72242546081543,
            -0.0019238184904679656
        ],
        "speed": 5.723715111434805,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.373699188232422,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9218668341636658,
                "transform": {
                    "location": {
                        "x": 986.8156127929688,
                        "y": 5257.38671875,
                        "z": 371.6324462890625
                    },
                    "rotation": {
                        "roll": -0.0029602055437862873,
                        "pitch": 0.11187165975570679,
                        "yaw": -89.87716674804688
                    }
                },
                "velocity": {
                    "x": 0.01175806112587452,
                    "y": -0.9205872416496277,
                    "z": 0.0471104234457016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.063404083251953,
                "transform": {
                    "location": {
                        "x": 986.9974975585938,
                        "y": 5211.3427734375,
                        "z": 371.6611328125
                    },
                    "rotation": {
                        "roll": -0.00070190365659073,
                        "pitch": 0.021870264783501625,
                        "yaw": -89.89669799804688
                    }
                },
                "velocity": {
                    "x": 0.014524200931191444,
                    "y": -8.063390731811523,
                    "z": 0.0018996619619429111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0399808883667,
                "transform": {
                    "location": {
                        "x": 987.0714721679688,
                        "y": 5169.45751953125,
                        "z": 371.6311950683594
                    },
                    "rotation": {
                        "roll": -6.103564373916015e-05,
                        "pitch": -0.011843547224998474,
                        "yaw": -89.89053344726562
                    }
                },
                "velocity": {
                    "x": 0.015381376259028912,
                    "y": -8.039966583251953,
                    "z": -0.0015243148664012551
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5693,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0558471679688,
                        "y": 5128.01416015625,
                        "z": 371.6183776855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.045598339289426804,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.166414737701416,
                "transform": {
                    "location": {
                        "x": 983.8699951171875,
                        "y": 5171.19384765625,
                        "z": 371.6291809082031
                    },
                    "rotation": {
                        "roll": 0.0016823422629386187,
                        "pitch": -0.3678261637687683,
                        "yaw": 89.7203598022461
                    }
                },
                "velocity": {
                    "x": 0.01484883762896061,
                    "y": 4.166388034820557,
                    "z": -0.0010618686210364103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.788172721862793,
                "transform": {
                    "location": {
                        "x": 983.8377685546875,
                        "y": 5188.18505859375,
                        "z": 371.63287353515625
                    },
                    "rotation": {
                        "roll": -0.001342776813544333,
                        "pitch": 0.07260490953922272,
                        "yaw": 90.19587707519531
                    }
                },
                "velocity": {
                    "x": -0.013509091921150684,
                    "y": 5.788156986236572,
                    "z": 0.0002052688505500555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.194701194763184,
                "transform": {
                    "location": {
                        "x": 983.7623291015625,
                        "y": 5251.2978515625,
                        "z": 371.61248779296875
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.0033331322483718395,
                        "yaw": 90.46501922607422
                    }
                },
                "velocity": {
                    "x": -0.028818123042583466,
                    "y": 4.194602012634277,
                    "z": -0.0020757578313350677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00131515902467072,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.0004577661748044193,
                        "pitch": -0.04071475565433502,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -5.721463821828365e-05,
                    "y": -6.039626754272831e-08,
                    "z": 0.0013139138463884592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5472854375839233,
        "expert_target_speed": 6.622651638327714,
        "target_point": [
            35.88840604147566,
            1.337286061862421
        ],
        "target_point_next": [
            51.88420413655198,
            1.705062120810572
        ]
    },
    "235": {
        "acceleration": [
            -0.07957011461257935,
            -0.7462406158447266,
            -0.0017034541815519333
        ],
        "angular_velocity": [
            0.047282274812459946,
            0.07274188101291656,
            -2.91294527053833
        ],
        "forward_vector": [
            0.02073107287287712,
            0.9997831583023071,
            -0.0019632563926279545
        ],
        "right_vector": [
            -0.9997850656509399,
            0.020731553435325623,
            0.00022477038146462291
        ],
        "location": [
            984.4481201171875,
            5206.94287109375,
            371.62451171875
        ],
        "rotation": [
            -0.012878418900072575,
            -0.11248637735843658,
            88.8121109008789
        ],
        "velocity": [
            0.10342565923929214,
            5.524848937988281,
            -0.0025836944114416838
        ],
        "speed": 5.525816921920172,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.991029739379883,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.835922122001648,
                "transform": {
                    "location": {
                        "x": 986.819091796875,
                        "y": 5257.03369140625,
                        "z": 371.6378479003906
                    },
                    "rotation": {
                        "roll": -0.0032043487299233675,
                        "pitch": 0.14049698412418365,
                        "yaw": -89.76889038085938
                    }
                },
                "velocity": {
                    "x": 0.023298071697354317,
                    "y": -1.8357551097869873,
                    "z": 0.008398170582950115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.988587856292725,
                "transform": {
                    "location": {
                        "x": 987.0010986328125,
                        "y": 5209.3388671875,
                        "z": 371.661865234375
                    },
                    "rotation": {
                        "roll": 0.0009693683241494,
                        "pitch": 0.016433434560894966,
                        "yaw": -89.89669799804688
                    }
                },
                "velocity": {
                    "x": 0.014465805143117905,
                    "y": -7.988574504852295,
                    "z": 0.002071437891572714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041892051696777,
                "transform": {
                    "location": {
                        "x": 987.0753173828125,
                        "y": 5167.447265625,
                        "z": 371.6307678222656
                    },
                    "rotation": {
                        "roll": -0.000823975307866931,
                        "pitch": -0.011843547224998474,
                        "yaw": -89.89047241210938
                    }
                },
                "velocity": {
                    "x": 0.015309540554881096,
                    "y": -8.041876792907715,
                    "z": -0.0025442694313824177
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.55795431137085,
                "transform": {
                    "location": {
                        "x": 983.8712158203125,
                        "y": 5172.234375,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": -0.005279545206576586,
                        "pitch": -0.055604565888643265,
                        "yaw": 89.76795196533203
                    }
                },
                "velocity": {
                    "x": 0.0012038499116897583,
                    "y": 4.557953834533691,
                    "z": 0.0014393710298463702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.472264766693115,
                "transform": {
                    "location": {
                        "x": 983.8338012695312,
                        "y": 5189.7890625,
                        "z": 371.63299560546875
                    },
                    "rotation": {
                        "roll": 3.2403640943812206e-05,
                        "pitch": 0.23135899007320404,
                        "yaw": 90.1997299194336
                    }
                },
                "velocity": {
                    "x": -0.01891477219760418,
                    "y": 7.472240447998047,
                    "z": -0.002334661316126585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.206454753875732,
                "transform": {
                    "location": {
                        "x": 983.754638671875,
                        "y": 5252.375,
                        "z": 371.6121520996094
                    },
                    "rotation": {
                        "roll": -0.0006713863112963736,
                        "pitch": -0.03176720812916756,
                        "yaw": 90.43187713623047
                    }
                },
                "velocity": {
                    "x": -0.028497669845819473,
                    "y": 4.206357479095459,
                    "z": -0.001856307964771986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012811131309717894,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.0004577661748044193,
                        "pitch": -0.0406532846391201,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": -1.0724142157414462e-05,
                    "y": 8.961618732428178e-06,
                    "z": 0.0012810368789359927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5827134251594543,
        "expert_target_speed": 6.421047462325482,
        "target_point": [
            34.48444452575377,
            1.3197773741770598
        ],
        "target_point_next": [
            50.480413337525405,
            1.6800518540003915
        ]
    },
    "240": {
        "acceleration": [
            -0.0921255350112915,
            -0.4094123840332031,
            -0.007111742161214352
        ],
        "angular_velocity": [
            0.09970511496067047,
            -0.0008766053942963481,
            4.139434814453125
        ],
        "forward_vector": [
            0.017514457926154137,
            0.9998452663421631,
            -0.0016494982410222292
        ],
        "right_vector": [
            -0.9998465776443481,
            0.017515121027827263,
            0.0003888210339937359
        ],
        "location": [
            984.4718017578125,
            5208.3046875,
            371.62396240234375
        ],
        "rotation": [
            -0.02227783389389515,
            -0.09450932592153549,
            88.99644470214844
        ],
        "velocity": [
            0.08096729964017868,
            5.386425018310547,
            -0.0020907593425363302
        ],
        "speed": 5.387033523331073,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.652999877929688,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5219116210938,
                5224.6943359375,
                371.6214904785156
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0421969890594482,
                "transform": {
                    "location": {
                        "x": 986.82568359375,
                        "y": 5256.42236328125,
                        "z": 371.6388854980469
                    },
                    "rotation": {
                        "roll": -0.0025329492054879665,
                        "pitch": 0.1598195880651474,
                        "yaw": -89.62435913085938
                    }
                },
                "velocity": {
                    "x": 0.03948388248682022,
                    "y": -3.0419397354125977,
                    "z": 0.0023323344066739082
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.057177543640137,
                "transform": {
                    "location": {
                        "x": 987.0047607421875,
                        "y": 5207.33251953125,
                        "z": 371.6624450683594
                    },
                    "rotation": {
                        "roll": 0.00012517039431259036,
                        "pitch": 0.021398982033133507,
                        "yaw": -89.89679718017578
                    }
                },
                "velocity": {
                    "x": 0.014501534402370453,
                    "y": -8.057164192199707,
                    "z": 0.0022410869132727385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039140701293945,
                "transform": {
                    "location": {
                        "x": 987.0792236328125,
                        "y": 5165.4375,
                        "z": 371.6303405761719
                    },
                    "rotation": {
                        "roll": 3.7441808672156185e-05,
                        "pitch": -0.011932339519262314,
                        "yaw": -89.89047241210938
                    }
                },
                "velocity": {
                    "x": 0.01536289881914854,
                    "y": -8.039125442504883,
                    "z": -0.0018902492010965943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.328338146209717,
                "transform": {
                    "location": {
                        "x": 983.870361328125,
                        "y": 5173.50927734375,
                        "z": 371.6306457519531
                    },
                    "rotation": {
                        "roll": -0.004913329612463713,
                        "pitch": 0.0889154002070427,
                        "yaw": 89.93643188476562
                    }
                },
                "velocity": {
                    "x": -0.005663842428475618,
                    "y": 5.328334808349609,
                    "z": 0.0020966625306755304
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01866340637207,
                "transform": {
                    "location": {
                        "x": 983.82958984375,
                        "y": 5191.767578125,
                        "z": 371.6324157714844
                    },
                    "rotation": {
                        "roll": 0.0013616320211440325,
                        "pitch": 0.12450068444013596,
                        "yaw": 90.14329528808594
                    }
                },
                "velocity": {
                    "x": -0.01612268015742302,
                    "y": 8.018646240234375,
                    "z": -0.0020905588753521442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8653876781463623,
                "transform": {
                    "location": {
                        "x": 983.7485961914062,
                        "y": 5253.251953125,
                        "z": 371.61077880859375
                    },
                    "rotation": {
                        "roll": -0.0011291498085483909,
                        "pitch": 0.07183309644460678,
                        "yaw": 90.42366027832031
                    }
                },
                "velocity": {
                    "x": -0.01949741505086422,
                    "y": 2.865320920944214,
                    "z": -0.001482200575992465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0018484386382624507,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": -0.0403459258377552,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 2.1678273697034456e-05,
                    "y": -3.193307566107251e-05,
                    "z": 0.0018480356084182858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.5219116210938,
                        "y": 5224.6943359375,
                        "z": 371.6214904785156
                    },
                    "rotation": {
                        "roll": -3.0517407139996067e-05,
                        "pitch": -0.021842943504452705,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5887064933776855,
        "expert_target_speed": 6.2581225953757125,
        "target_point": [
            33.126492948832976,
            1.2085647380634459
        ],
        "target_point_next": [
            49.1235388676911,
            1.51733293255073
        ]
    },
    "245": {
        "acceleration": [
            -0.07335305213928223,
            -0.1349639892578125,
            0.009625242091715336
        ],
        "angular_velocity": [
            0.12773384153842926,
            0.03127674013376236,
            -2.639913558959961
        ],
        "forward_vector": [
            0.014726053923368454,
            0.999890923500061,
            -0.0011420247610658407
        ],
        "right_vector": [
            -0.999891459941864,
            0.014726588502526283,
            0.00046125915832817554
        ],
        "location": [
            984.48974609375,
            5209.64208984375,
            371.6234436035156
        ],
        "rotation": [
            -0.02642822079360485,
            -0.06543321162462234,
            89.1562271118164
        ],
        "velocity": [
            0.06032805144786835,
            5.325021266937256,
            -0.0016150474548339844
        ],
        "speed": 5.325362989236091,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.342098236083984,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5216064453125,
                5224.6943359375,
                371.62115478515625
            ],
            "velocity": [
                -0.004750414751470089,
                -0.00012146894732723013,
                -0.0005989582277834415
            ],
            "speed_kmh": 0.017242438917773044,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.422811985015869,
                "transform": {
                    "location": {
                        "x": 986.8366088867188,
                        "y": 5255.478515625,
                        "z": 371.639404296875
                    },
                    "rotation": {
                        "roll": -0.0033569347579032183,
                        "pitch": 0.1826324164867401,
                        "yaw": -89.4727783203125
                    }
                },
                "velocity": {
                    "x": 0.05816829949617386,
                    "y": -4.422428607940674,
                    "z": 0.0024548054207116365
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008503913879395,
                "transform": {
                    "location": {
                        "x": 987.0083618164062,
                        "y": 5205.32373046875,
                        "z": 371.66314697265625
                    },
                    "rotation": {
                        "roll": 0.0002630581730045378,
                        "pitch": 0.018660075962543488,
                        "yaw": -89.8968505859375
                    }
                },
                "velocity": {
                    "x": 0.014402053318917751,
                    "y": -8.008490562438965,
                    "z": 0.002315158722922206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042149543762207,
                "transform": {
                    "location": {
                        "x": 987.0830078125,
                        "y": 5163.42724609375,
                        "z": 371.6298828125
                    },
                    "rotation": {
                        "roll": 3.1886444048723206e-05,
                        "pitch": -0.011905019171535969,
                        "yaw": -89.8905029296875
                    }
                },
                "velocity": {
                    "x": 0.015365983359515667,
                    "y": -8.042134284973145,
                    "z": -0.0013133715838193893
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.173138618469238,
                "transform": {
                    "location": {
                        "x": 983.8684692382812,
                        "y": 5174.88818359375,
                        "z": 371.6308898925781
                    },
                    "rotation": {
                        "roll": -0.002960200421512127,
                        "pitch": 0.126194566488266,
                        "yaw": 90.04151916503906
                    }
                },
                "velocity": {
                    "x": -0.009872146882116795,
                    "y": 6.173130512237549,
                    "z": 0.0015135096618905663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.990025520324707,
                "transform": {
                    "location": {
                        "x": 983.8263549804688,
                        "y": 5193.64697265625,
                        "z": 371.6316833496094
                    },
                    "rotation": {
                        "roll": 0.001263433718122542,
                        "pitch": -0.10607283562421799,
                        "yaw": 90.07479858398438
                    }
                },
                "velocity": {
                    "x": -0.010462642647325993,
                    "y": 6.990017414093018,
                    "z": -0.0016575813060626388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1851614713668823,
                "transform": {
                    "location": {
                        "x": 983.7451171875,
                        "y": 5253.8037109375,
                        "z": 371.6101989746094
                    },
                    "rotation": {
                        "roll": -0.001861579599790275,
                        "pitch": 0.10100483149290085,
                        "yaw": 90.34835815429688
                    }
                },
                "velocity": {
                    "x": 0.0033375259954482317,
                    "y": 1.185155987739563,
                    "z": -0.00143626204226166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001149359392002225,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.0003967263619415462,
                        "pitch": -0.04091966152191162,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 6.708376167807728e-05,
                    "y": 8.326042006956413e-06,
                    "z": 0.0011473698541522026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004789566155523062,
                "transform": {
                    "location": {
                        "x": 981.5216064453125,
                        "y": 5224.6943359375,
                        "z": 371.62115478515625
                    },
                    "rotation": {
                        "roll": 0.05808832868933678,
                        "pitch": -0.021487774327397346,
                        "yaw": 90.10224914550781
                    }
                },
                "velocity": {
                    "x": -0.004750414751470089,
                    "y": -0.00012146894732723013,
                    "z": -0.0005989582277834415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6137290000915527,
        "expert_target_speed": 6.14624262897467,
        "target_point": [
            31.792207926812058,
            1.1145712951907838
        ],
        "target_point_next": [
            47.790051528083126,
            1.3787985406687455
        ]
    },
    "250": {
        "acceleration": [
            -0.07737942039966583,
            -0.01495361328125,
            -0.002397156786173582
        ],
        "angular_velocity": [
            0.07507949322462082,
            0.012854225002229214,
            4.242438316345215
        ],
        "forward_vector": [
            0.010662664659321308,
            0.9999428987503052,
            -0.0006839035777375102
        ],
        "right_vector": [
            -0.9999430179595947,
            0.010662981308996677,
            0.0004601940745487809
        ],
        "location": [
            984.5032348632812,
            5210.9716796875,
            371.6229248046875
        ],
        "rotation": [
            -0.0263671875,
            -0.03918479382991791,
            89.3890609741211
        ],
        "velocity": [
            0.04159243032336235,
            5.314218044281006,
            -0.001860341988503933
        ],
        "speed": 5.314380806116743,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.043383598327637,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5213012695312,
                5224.69482421875,
                371.6212463378906
            ],
            "velocity": [
                0.0007810479146428406,
                -9.485826012678444e-05,
                0.001953370403498411
            ],
            "speed_kmh": 0.007581133205925418,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.253442287445068,
                "transform": {
                    "location": {
                        "x": 986.8521118164062,
                        "y": 5254.2236328125,
                        "z": 371.64080810546875
                    },
                    "rotation": {
                        "roll": -0.001312254462391138,
                        "pitch": 0.14889810979366302,
                        "yaw": -89.34029388427734
                    }
                },
                "velocity": {
                    "x": 0.07003571838140488,
                    "y": -5.252973556518555,
                    "z": 0.004265212919563055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041130065917969,
                "transform": {
                    "location": {
                        "x": 987.0119018554688,
                        "y": 5203.318359375,
                        "z": 371.6637878417969
                    },
                    "rotation": {
                        "roll": 6.84119513607584e-05,
                        "pitch": 0.019595811143517494,
                        "yaw": -89.89682006835938
                    }
                },
                "velocity": {
                    "x": 0.01441144198179245,
                    "y": -8.041116714477539,
                    "z": 0.0024357507936656475
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038650512695312,
                "transform": {
                    "location": {
                        "x": 987.0868530273438,
                        "y": 5161.4169921875,
                        "z": 371.62939453125
                    },
                    "rotation": {
                        "roll": -0.0008850092999637127,
                        "pitch": -0.012547057121992111,
                        "yaw": -89.89047241210938
                    }
                },
                "velocity": {
                    "x": 0.015335842967033386,
                    "y": -8.03863525390625,
                    "z": -0.0026460550725460052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.371798992156982,
                "transform": {
                    "location": {
                        "x": 983.8654174804688,
                        "y": 5176.44580078125,
                        "z": 371.63104248046875
                    },
                    "rotation": {
                        "roll": -0.0021057112608104944,
                        "pitch": -0.03131641447544098,
                        "yaw": 90.18158721923828
                    }
                },
                "velocity": {
                    "x": -0.009121645241975784,
                    "y": 5.371790885925293,
                    "z": 0.0012696265475824475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.504469633102417,
                "transform": {
                    "location": {
                        "x": 983.8240356445312,
                        "y": 5195.0830078125,
                        "z": 371.630615234375
                    },
                    "rotation": {
                        "roll": 0.0002735629095695913,
                        "pitch": -0.4518374800682068,
                        "yaw": 90.16136932373047
                    }
                },
                "velocity": {
                    "x": -0.00503145344555378,
                    "y": 3.5044631958007812,
                    "z": -0.004485711921006441
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021576678846031427,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82568359375,
                        "z": 371.6103515625
                    },
                    "rotation": {
                        "roll": 0.0005300205084495246,
                        "pitch": 0.0826043039560318,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": 4.9949790991377085e-05,
                    "y": -0.0010115338955074549,
                    "z": -0.0019052126444876194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00032978784292936325,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.000671388057526201,
                        "pitch": -0.0406191311776638,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 3.8312311517074704e-05,
                    "y": -2.6399147827760316e-05,
                    "z": 0.0003264893020968884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00210587028414011,
                "transform": {
                    "location": {
                        "x": 981.5213012695312,
                        "y": 5224.69482421875,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": 0.02571534737944603,
                        "pitch": 0.0025203395634889603,
                        "yaw": 90.1019058227539
                    }
                },
                "velocity": {
                    "x": 0.0007810479146428406,
                    "y": -9.485826012678444e-05,
                    "z": 0.001953370403498411
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6234717965126038,
        "expert_target_speed": 6.044302620911483,
        "target_point": [
            30.46681816272082,
            0.9846273927976711
        ],
        "target_point_next": [
            46.46560372380115,
            1.1838169973205943
        ]
    },
    "255": {
        "acceleration": [
            -0.04397433251142502,
            -0.7099628448486328,
            0.015180397778749466
        ],
        "angular_velocity": [
            -0.1541711986064911,
            -0.007119791582226753,
            -2.8812224864959717
        ],
        "forward_vector": [
            0.00826344732195139,
            0.999965488910675,
            -0.0008655784768052399
        ],
        "right_vector": [
            -0.9999657869338989,
            0.00826377421617508,
            0.0003760381368920207
        ],
        "location": [
            984.5125732421875,
            5212.29052734375,
            371.62249755859375
        ],
        "rotation": [
            -0.0215454064309597,
            -0.04959399998188019,
            89.52653503417969
        ],
        "velocity": [
            0.0291514303535223,
            5.213181495666504,
            -0.0013735961401835084
        ],
        "speed": 5.213263000525804,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.759481430053711,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.5209350585938,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                -0.0003007698687724769,
                -9.853377559920773e-05,
                0.001217090175487101
            ],
            "speed_kmh": 0.004527248578059926,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.681760311126709,
                "transform": {
                    "location": {
                        "x": 986.8680419921875,
                        "y": 5252.85986328125,
                        "z": 371.6420593261719
                    },
                    "rotation": {
                        "roll": 0.006857431959360838,
                        "pitch": 0.09200264513492584,
                        "yaw": -89.28195190429688
                    }
                },
                "velocity": {
                    "x": 0.04999113455414772,
                    "y": -5.681540012359619,
                    "z": 0.002450561383739114
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014456748962402,
                "transform": {
                    "location": {
                        "x": 987.015625,
                        "y": 5201.31103515625,
                        "z": 371.66448974609375
                    },
                    "rotation": {
                        "roll": 5.1283113862155005e-05,
                        "pitch": 0.0201558880507946,
                        "yaw": -89.8969955444336
                    }
                },
                "velocity": {
                    "x": 0.014454513788223267,
                    "y": -8.014443397521973,
                    "z": 0.0020031833555549383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041261672973633,
                "transform": {
                    "location": {
                        "x": 987.0906982421875,
                        "y": 5159.4072265625,
                        "z": 371.6289367675781
                    },
                    "rotation": {
                        "roll": -0.00030517528648488224,
                        "pitch": -0.011659132316708565,
                        "yaw": -89.89047241210938
                    }
                },
                "velocity": {
                    "x": 0.01536928303539753,
                    "y": -8.04124641418457,
                    "z": -0.0021262646187096834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0035780060570687056,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.95654296875,
                        "z": 371.6300354003906
                    },
                    "rotation": {
                        "roll": -0.01596067287027836,
                        "pitch": -0.6672958135604858,
                        "yaw": 90.60563659667969
                    }
                },
                "velocity": {
                    "x": -0.00037466909270733595,
                    "y": -0.0035261681769043207,
                    "z": 0.00047737587010487914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005654012784361839,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.28662109375,
                        "z": 371.63037109375
                    },
                    "rotation": {
                        "roll": -0.0014953495701774955,
                        "pitch": -0.5617693662643433,
                        "yaw": 90.1744384765625
                    }
                },
                "velocity": {
                    "x": 8.751861605560407e-05,
                    "y": -0.005639270413666964,
                    "z": 0.00039854220813140273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001936073531396687,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.611083984375
                    },
                    "rotation": {
                        "roll": -0.00021362266852520406,
                        "pitch": -0.0178882647305727,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": 5.86048645345727e-06,
                    "y": -8.326025272253901e-05,
                    "z": -0.00017469169688411057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007723091403022408,
                "transform": {
                    "location": {
                        "x": 983.8053588867188,
                        "y": 5262.8984375,
                        "z": 371.6004638671875
                    },
                    "rotation": {
                        "roll": -0.0009460463770665228,
                        "pitch": -0.040318604558706284,
                        "yaw": 90.10230255126953
                    }
                },
                "velocity": {
                    "x": 1.909156344481744e-05,
                    "y": 1.6173571566469036e-05,
                    "z": 0.0007719037239439785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012575690634548664,
                "transform": {
                    "location": {
                        "x": 981.5209350585938,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.0385436937212944,
                        "pitch": -0.03145984932780266,
                        "yaw": 90.10210418701172
                    }
                },
                "velocity": {
                    "x": -0.0003007698687724769,
                    "y": -9.853377559920773e-05,
                    "z": 0.001217090175487101
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6344737410545349,
        "expert_target_speed": 5.804541920750721,
        "target_point": [
            29.15021994817169,
            0.9097437373936416
        ],
        "target_point_next": [
            45.14943858609246,
            1.0704263562136922
        ]
    },
    "260": {
        "acceleration": [
            -0.04033796489238739,
            -1.0886001586914062,
            0.0013011926785111427
        ],
        "angular_velocity": [
            -0.2177741825580597,
            -0.046042658388614655,
            3.1276206970214844
        ],
        "forward_vector": [
            0.0054738945327699184,
            0.9999840259552002,
            -0.0014051193138584495
        ],
        "right_vector": [
            -0.9999849796295166,
            0.00547435088083148,
            0.00032117683440446854
        ],
        "location": [
            984.5187377929688,
            5213.56640625,
            371.6221923828125
        ],
        "rotation": [
            -0.0184020958840847,
            -0.08050743490457535,
            89.68637084960938
        ],
        "velocity": [
            0.016973379999399185,
            5.009555339813232,
            -0.0019972515292465687
        ],
        "speed": 5.009584094341553,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.524638175964355,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8946733474731445,
                "transform": {
                    "location": {
                        "x": 986.8829956054688,
                        "y": 5251.1953125,
                        "z": 371.6417236328125
                    },
                    "rotation": {
                        "roll": 0.005840689409524202,
                        "pitch": 0.23902246356010437,
                        "yaw": -89.45804595947266
                    }
                },
                "velocity": {
                    "x": 0.061162035912275314,
                    "y": -7.894434452056885,
                    "z": 0.005515823140740395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043913841247559,
                "transform": {
                    "location": {
                        "x": 987.0192260742188,
                        "y": 5199.3037109375,
                        "z": 371.6651611328125
                    },
                    "rotation": {
                        "roll": 8.361646177945659e-05,
                        "pitch": 0.019267963245511055,
                        "yaw": -89.89689636230469
                    }
                },
                "velocity": {
                    "x": 0.014468755573034286,
                    "y": -8.043900489807129,
                    "z": 0.001998853636905551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039650917053223,
                "transform": {
                    "location": {
                        "x": 987.094482421875,
                        "y": 5157.39697265625,
                        "z": 371.6285400390625
                    },
                    "rotation": {
                        "roll": 0.00021058192942291498,
                        "pitch": -0.0118093965575099,
                        "yaw": -89.89055633544922
                    }
                },
                "velocity": {
                    "x": 0.015327283181250095,
                    "y": -8.039636611938477,
                    "z": -0.0019150924636051059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002965078456327319,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9599609375,
                        "z": 371.6307067871094
                    },
                    "rotation": {
                        "roll": -0.004180901683866978,
                        "pitch": -0.17358241975307465,
                        "yaw": 90.60531616210938
                    }
                },
                "velocity": {
                    "x": -0.0001015299276332371,
                    "y": -0.0024008420296013355,
                    "z": 0.0017370490822941065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002458013826981187,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2890625,
                        "z": 371.6308898925781
                    },
                    "rotation": {
                        "roll": 0.0001657993852859363,
                        "pitch": -0.14895959198474884,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 5.468918243423104e-05,
                    "y": -0.0016962114023044705,
                    "z": 0.001778119127266109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.475181751535274e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": 0.00019668813911266625,
                        "pitch": -0.03305128216743469,
                        "yaw": 90.34422302246094
                    }
                },
                "velocity": {
                    "x": 1.7910821043187752e-05,
                    "y": -2.90164662146708e-05,
                    "z": 4.283700400264934e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8251686096191406,
                "transform": {
                    "location": {
                        "x": 983.8045654296875,
                        "y": 5262.94189453125,
                        "z": 371.6005859375
                    },
                    "rotation": {
                        "roll": -0.004913331009447575,
                        "pitch": 0.05766045302152634,
                        "yaw": 90.11861419677734
                    }
                },
                "velocity": {
                    "x": -0.014074965380132198,
                    "y": 0.8250485062599182,
                    "z": -0.0003293609479442239
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6286008954048157,
        "expert_target_speed": 5.354662048878612,
        "target_point": [
            27.876749140792448,
            0.8276669450629044
        ],
        "target_point_next": [
            43.876353533209674,
            0.9437497350268743
        ]
    },
    "265": {
        "acceleration": [
            0.01535741612315178,
            -3.8858985900878906,
            0.009961698204278946
        ],
        "angular_velocity": [
            -0.5954238176345825,
            -0.07038729637861252,
            -0.009369471110403538
        ],
        "forward_vector": [
            0.004287696443498135,
            0.9999707937240601,
            -0.006327109877020121
        ],
        "right_vector": [
            -0.9999908208847046,
            0.004288607742637396,
            0.00013049271365161985
        ],
        "location": [
            984.5219116210938,
            5214.63671875,
            371.62261962890625
        ],
        "rotation": [
            -0.007476832251995802,
            -0.36251911520957947,
            89.75432586669922
        ],
        "velocity": [
            0.009920459240674973,
            3.750180959701538,
            -0.0013575744815170765
        ],
        "speed": 3.750194081113602,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.495768547058105,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.297392845153809,
                "transform": {
                    "location": {
                        "x": 986.8995361328125,
                        "y": 5249.125,
                        "z": 371.64398193359375
                    },
                    "rotation": {
                        "roll": 0.002420127158984542,
                        "pitch": 0.12566864490509033,
                        "yaw": -89.55056762695312
                    }
                },
                "velocity": {
                    "x": 0.06150633096694946,
                    "y": -8.297163009643555,
                    "z": 0.005966100376099348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009466171264648,
                "transform": {
                    "location": {
                        "x": 987.0227661132812,
                        "y": 5197.296875,
                        "z": 371.665771484375
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 0.019254302605986595,
                        "yaw": -89.89686584472656
                    }
                },
                "velocity": {
                    "x": 0.01439578365534544,
                    "y": -8.009452819824219,
                    "z": 0.0016224479768425226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041366577148438,
                "transform": {
                    "location": {
                        "x": 987.098388671875,
                        "y": 5155.38671875,
                        "z": 371.6280517578125
                    },
                    "rotation": {
                        "roll": -0.0002441400574753061,
                        "pitch": -0.011870868504047394,
                        "yaw": -89.89047241210938
                    }
                },
                "velocity": {
                    "x": 0.015310432761907578,
                    "y": -8.041351318359375,
                    "z": -0.0021169662941247225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019862018525600433,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.63092041015625
                    },
                    "rotation": {
                        "roll": -0.0008544932352378964,
                        "pitch": -0.02859117090702057,
                        "yaw": 90.60531616210938
                    }
                },
                "velocity": {
                    "x": 5.501851410372183e-05,
                    "y": -0.0005402807146310806,
                    "z": 0.001910514896735549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011224180925637484,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.28955078125,
                        "z": 371.6310729980469
                    },
                    "rotation": {
                        "roll": 0.0011846113484352827,
                        "pitch": -0.052496831864118576,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.852587153436616e-05,
                    "y": -0.0002115661627613008,
                    "z": 0.001101229921914637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.539227615576237e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.00042724539525806904,
                        "pitch": -0.03576286882162094,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": -8.526397323294077e-06,
                    "y": 7.641268666702672e-07,
                    "z": -6.482951721409336e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8808289766311646,
                "transform": {
                    "location": {
                        "x": 983.7986450195312,
                        "y": 5263.31982421875,
                        "z": 371.6003723144531
                    },
                    "rotation": {
                        "roll": -0.007843016646802425,
                        "pitch": 0.12654291093349457,
                        "yaw": 90.37907409667969
                    }
                },
                "velocity": {
                    "x": -0.029374778270721436,
                    "y": 1.8805984258651733,
                    "z": -0.0021346567664295435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6241576671600342,
        "expert_target_speed": 3.9667034553531715,
        "target_point": [
            26.807394221300854,
            0.7932152093807745
        ],
        "target_point_next": [
            42.80712495563223,
            0.8903355310145155
        ]
    },
    "270": {
        "acceleration": [
            0.03236155956983566,
            -2.7703046798706055,
            -0.01059036236256361
        ],
        "angular_velocity": [
            0.1595965027809143,
            -0.09656205028295517,
            0.22392912209033966
        ],
        "forward_vector": [
            0.005474371369928122,
            0.9999622702598572,
            -0.006748386658728123
        ],
        "right_vector": [
            -0.9999849796295166,
            0.005472521297633648,
            -0.00029259457369334996
        ],
        "location": [
            984.52734375,
            5215.46630859375,
            371.62249755859375
        ],
        "rotation": [
            0.016764815896749496,
            -0.3866569995880127,
            89.68633270263672
        ],
        "velocity": [
            0.02854187600314617,
            2.960042953491211,
            -0.0019298362312838435
        ],
        "speed": 2.960180556182131,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.705390930175781,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.787036895751953,
                "transform": {
                    "location": {
                        "x": 986.9127807617188,
                        "y": 5247.1259765625,
                        "z": 371.6460876464844
                    },
                    "rotation": {
                        "roll": 0.005973798222839832,
                        "pitch": 0.013571585528552532,
                        "yaw": -89.63946533203125
                    }
                },
                "velocity": {
                    "x": 0.037477247416973114,
                    "y": -7.78694486618042,
                    "z": 0.005639734212309122
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046849250793457,
                "transform": {
                    "location": {
                        "x": 987.0263671875,
                        "y": 5195.2900390625,
                        "z": 371.66644287109375
                    },
                    "rotation": {
                        "roll": -0.00018310610903427005,
                        "pitch": 0.019793886691331863,
                        "yaw": -89.89679718017578
                    }
                },
                "velocity": {
                    "x": 0.014501970261335373,
                    "y": -8.046834945678711,
                    "z": 0.002322359010577202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038843154907227,
                "transform": {
                    "location": {
                        "x": 987.1021118164062,
                        "y": 5153.376953125,
                        "z": 371.6275329589844
                    },
                    "rotation": {
                        "roll": 0.0010098933707922697,
                        "pitch": -0.01553184911608696,
                        "yaw": -89.89520263671875
                    }
                },
                "velocity": {
                    "x": 0.013732348568737507,
                    "y": -8.038830757141113,
                    "z": -0.0020947265438735485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007940109935589135,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00013134576147422194,
                        "pitch": 0.00020490566384978592,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -6.054491313989274e-05,
                    "y": -0.0001734805409796536,
                    "z": 0.0007724586175754666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001484203152358532,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0006380515987984836,
                        "pitch": -0.027525661513209343,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 9.771996701601893e-05,
                    "y": -0.00014431076124310493,
                    "z": 0.0014739349717274308
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0588558982126415e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": -0.03588581085205078,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": -8.447145773970988e-06,
                    "y": -2.0831917026953306e-06,
                    "z": 1.8659979104995728e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2693849503993988,
                "transform": {
                    "location": {
                        "x": 983.794677734375,
                        "y": 5263.55126953125,
                        "z": 371.59979248046875
                    },
                    "rotation": {
                        "roll": 0.0006593517027795315,
                        "pitch": -0.22375698387622833,
                        "yaw": 90.5782241821289
                    }
                },
                "velocity": {
                    "x": -0.0032079285010695457,
                    "y": 0.26936566829681396,
                    "z": 0.00029374120640568435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6479957699775696,
        "expert_target_speed": 2.84735489446613,
        "target_point": [
            25.976828145926127,
            0.8258804542751305
        ],
        "target_point_next": [
            41.976432538343346,
            0.9419632442391004
        ]
    },
    "275": {
        "acceleration": [
            0.0031597912311553955,
            -1.441645622253418,
            0.014129064977169037
        ],
        "angular_velocity": [
            0.437303751707077,
            0.09598799049854279,
            -1.3167484998703003
        ],
        "forward_vector": [
            0.007748741656541824,
            0.9999572038650513,
            -0.005051471758633852
        ],
        "right_vector": [
            -0.9999699592590332,
            0.0077478233724832535,
            -0.00020131024939473718
        ],
        "location": [
            984.534423828125,
            5216.14501953125,
            371.6219482421875
        ],
        "rotation": [
            0.011534374207258224,
            -0.289429247379303,
            89.55602264404297
        ],
        "velocity": [
            0.03158962354063988,
            2.5216245651245117,
            -0.0014665793860331178
        ],
        "speed": 2.5218224266896394,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.064852714538574,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.133606910705566,
                "transform": {
                    "location": {
                        "x": 986.9224243164062,
                        "y": 5245.14501953125,
                        "z": 371.6468811035156
                    },
                    "rotation": {
                        "roll": 0.00280153751373291,
                        "pitch": 0.05133569985628128,
                        "yaw": -89.7315673828125
                    }
                },
                "velocity": {
                    "x": 0.03348381817340851,
                    "y": -8.133536338806152,
                    "z": 0.005288028623908758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009846687316895,
                "transform": {
                    "location": {
                        "x": 987.030029296875,
                        "y": 5193.283203125,
                        "z": 371.6669921875
                    },
                    "rotation": {
                        "roll": 0.0006012709345668554,
                        "pitch": 0.015415736474096775,
                        "yaw": -89.89696502685547
                    }
                },
                "velocity": {
                    "x": 0.014402885921299458,
                    "y": -8.009833335876465,
                    "z": 0.0017903231782838702
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041865348815918,
                "transform": {
                    "location": {
                        "x": 987.1056518554688,
                        "y": 5151.3662109375,
                        "z": 371.626953125
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.01776532083749771,
                        "yaw": -89.89754486083984
                    }
                },
                "velocity": {
                    "x": 0.014413748867809772,
                    "y": -8.041851997375488,
                    "z": -0.002421426819637418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003499804006423801,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0012543159537017345,
                        "pitch": 0.009391509927809238,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -6.423750619433122e-06,
                    "y": -2.9168892069719732e-05,
                    "z": -0.00034870358649641275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001025515841320157,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.000609032460488379,
                        "pitch": -0.021699510514736176,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 4.277802145224996e-05,
                    "y": -2.975726965814829e-05,
                    "z": 0.0010241910349577665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.914891931344755e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0008544924785383046,
                        "pitch": -0.03628196194767952,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": -1.2445231732272077e-05,
                    "y": 1.0475888529981603e-06,
                    "z": 3.710332384798676e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.18103265762329102,
                "transform": {
                    "location": {
                        "x": 983.7935791015625,
                        "y": 5263.6943359375,
                        "z": 371.59991455078125
                    },
                    "rotation": {
                        "roll": 0.0007544761756435037,
                        "pitch": -0.06530343741178513,
                        "yaw": 90.4814682006836
                    }
                },
                "velocity": {
                    "x": -0.0005589043139480054,
                    "y": 0.1810302734375,
                    "z": -0.0007391738472506404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6517776846885681,
        "expert_target_speed": 1.6546277584266706,
        "target_point": [
            25.29613790780574,
            0.8867624488300823
        ],
        "target_point_next": [
            41.29543702776758,
            1.0392209611231555
        ]
    },
    "280": {
        "acceleration": [
            0.053033605217933655,
            -0.927729606628418,
            0.0014026649296283722
        ],
        "angular_velocity": [
            0.2917953133583069,
            -0.036968935281038284,
            0.2407199740409851
        ],
        "forward_vector": [
            0.009947506710886955,
            0.999944269657135,
            -0.003532402217388153
        ],
        "right_vector": [
            -0.9999504685401917,
            0.009946676902472973,
            -0.00025236664805561304
        ],
        "location": [
            984.5426635742188,
            5216.7353515625,
            371.62139892578125
        ],
        "rotation": [
            0.014459633268415928,
            -0.20239216089248657,
            89.43003845214844
        ],
        "velocity": [
            0.039871424436569214,
            2.2276899814605713,
            -0.001994228223338723
        ],
        "speed": 2.2280467643176616,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.513278007507324,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044296264648438,
                "transform": {
                    "location": {
                        "x": 986.930908203125,
                        "y": 5243.109375,
                        "z": 371.6481628417969
                    },
                    "rotation": {
                        "roll": 0.0007371119572781026,
                        "pitch": 0.03364551067352295,
                        "yaw": -89.76554870605469
                    }
                },
                "velocity": {
                    "x": 0.03290531784296036,
                    "y": -8.04422664642334,
                    "z": 0.005952348466962576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045308113098145,
                "transform": {
                    "location": {
                        "x": 987.0336303710938,
                        "y": 5191.2763671875,
                        "z": 371.66748046875
                    },
                    "rotation": {
                        "roll": -0.0008850092999637127,
                        "pitch": 0.011269811540842056,
                        "yaw": -89.89686584472656
                    }
                },
                "velocity": {
                    "x": 0.014459335245192051,
                    "y": -8.045294761657715,
                    "z": 0.0021831130143254995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039008140563965,
                "transform": {
                    "location": {
                        "x": 987.1092529296875,
                        "y": 5149.3564453125,
                        "z": 371.6263122558594
                    },
                    "rotation": {
                        "roll": -0.0001831052650231868,
                        "pitch": -0.01760822720825672,
                        "yaw": -89.8974838256836
                    }
                },
                "velocity": {
                    "x": 0.014408509247004986,
                    "y": -8.038995742797852,
                    "z": -0.0016179656377062201
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016997064813040197,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0007062316872179508,
                        "pitch": 0.011536188423633575,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -5.036289803683758e-05,
                    "y": -2.57191204582341e-05,
                    "z": 0.00016028762911446393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013253301149234176,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.001335257780738175,
                        "pitch": -0.019677773118019104,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.749802999664098e-06,
                    "y": -1.0309351637260988e-05,
                    "z": 0.001325284712947905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4293645765283145e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.03637758642435074,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": 7.924987585283816e-06,
                    "y": 3.2735149488871684e-06,
                    "z": -2.2730153432348743e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.17951397597789764,
                "transform": {
                    "location": {
                        "x": 983.7928466796875,
                        "y": 5263.75732421875,
                        "z": 371.5998229980469
                    },
                    "rotation": {
                        "roll": -0.0010986282723024487,
                        "pitch": -0.10329977422952652,
                        "yaw": 90.5196762084961
                    }
                },
                "velocity": {
                    "x": -0.001518310746178031,
                    "y": 0.17950108647346497,
                    "z": -0.0015229701530188322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6491190791130066,
        "expert_target_speed": 0.0,
        "target_point": [
            24.703731906346896,
            0.9450199464952294
        ],
        "target_point_next": [
            40.702655085418144,
            1.132831123370189
        ]
    },
    "285": {
        "acceleration": [
            0.020037144422531128,
            -0.2558612823486328,
            -0.013904571533203125
        ],
        "angular_velocity": [
            0.30077046155929565,
            0.016616763547062874,
            -1.641318678855896
        ],
        "forward_vector": [
            0.013212342746555805,
            0.9999105334281921,
            -0.002105472609400749
        ],
        "right_vector": [
            -0.9999127388000488,
            0.013211890123784542,
            -0.0002286752569489181
        ],
        "location": [
            984.5529174804688,
            5217.27587890625,
            371.6209411621094
        ],
        "rotation": [
            0.013102156110107899,
            -0.12063479423522949,
            89.24296569824219
        ],
        "velocity": [
            0.04667948931455612,
            2.1194686889648438,
            -0.002365808468312025
        ],
        "speed": 2.1199826646048363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.014115333557129,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.96102237701416,
                "transform": {
                    "location": {
                        "x": 986.9375610351562,
                        "y": 5241.1181640625,
                        "z": 371.6492919921875
                    },
                    "rotation": {
                        "roll": 0.0007149987504817545,
                        "pitch": 0.019793886691331863,
                        "yaw": -89.81462860107422
                    }
                },
                "velocity": {
                    "x": 0.02322198823094368,
                    "y": -7.960986614227295,
                    "z": 0.005401324946433306
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010176658630371,
                "transform": {
                    "location": {
                        "x": 987.037109375,
                        "y": 5189.26904296875,
                        "z": 371.6678466796875
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": 0.01032041572034359,
                        "yaw": -89.90087127685547
                    }
                },
                "velocity": {
                    "x": 0.013820510357618332,
                    "y": -8.010164260864258,
                    "z": 0.001116037368774414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041930198669434,
                "transform": {
                    "location": {
                        "x": 987.11279296875,
                        "y": 5147.34619140625,
                        "z": 371.6256408691406
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": -0.017423812299966812,
                        "yaw": -89.90081024169922
                    }
                },
                "velocity": {
                    "x": 0.013932169415056705,
                    "y": -8.04191780090332,
                    "z": -0.001993160229176283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021737958013545722,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00013224361464381218,
                        "pitch": 0.012615358456969261,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 3.533609924488701e-05,
                    "y": 2.4989265511976555e-05,
                    "z": 0.00021302764071151614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010105191031470895,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0006884775939397514,
                        "pitch": -0.019773395732045174,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 0.00010450636909808964,
                    "y": -1.1288047971902415e-06,
                    "z": 0.0010051000863313675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1259021448495332e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0008239750750362873,
                        "pitch": -0.03644588589668274,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": 5.6912872423708905e-06,
                    "y": 4.247515335009666e-06,
                    "z": 8.736900781514123e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.19058015942573547,
                "transform": {
                    "location": {
                        "x": 983.7915649414062,
                        "y": 5263.8662109375,
                        "z": 371.5997314453125
                    },
                    "rotation": {
                        "roll": -0.0005798331112600863,
                        "pitch": -0.09548603743314743,
                        "yaw": 90.52561950683594
                    }
                },
                "velocity": {
                    "x": -0.002934742486104369,
                    "y": 0.1905563473701477,
                    "z": -0.0006772232009097934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.518707811832428,
        "expert_target_speed": 0.0,
        "target_point": [
            24.15990213224819,
            1.0287094445580633
        ],
        "target_point_next": [
            40.158127542679686,
            1.2687087049869419
        ]
    },
    "290": {
        "acceleration": [
            -0.008219629526138306,
            -1.231527328491211,
            0.008331678807735443
        ],
        "angular_velocity": [
            -0.14218707382678986,
            0.019990431144833565,
            0.47791534662246704
        ],
        "forward_vector": [
            0.015726206824183464,
            0.9998748302459717,
            -0.0017305604415014386
        ],
        "right_vector": [
            -0.9998763203620911,
            0.01572600193321705,
            -0.00013225169095676392
        ],
        "location": [
            984.5639038085938,
            5217.7880859375,
            371.6206970214844
        ],
        "rotation": [
            0.007577475626021624,
            -0.09915385395288467,
            89.09891510009766
        ],
        "velocity": [
            0.045671023428440094,
            1.9340752363204956,
            -0.0013614463387057185
        ],
        "speed": 1.9346143962374471,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.546892166137695,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.073124885559082,
                "transform": {
                    "location": {
                        "x": 986.9434814453125,
                        "y": 5239.11083984375,
                        "z": 371.6501770019531
                    },
                    "rotation": {
                        "roll": 0.0007861072663217783,
                        "pitch": 0.03817392513155937,
                        "yaw": -89.83211517333984
                    }
                },
                "velocity": {
                    "x": 0.02381853759288788,
                    "y": -8.073088645935059,
                    "z": 0.004707030951976776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046415328979492,
                "transform": {
                    "location": {
                        "x": 987.0405883789062,
                        "y": 5187.26220703125,
                        "z": 371.66796875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.0006147170206531882,
                        "yaw": -89.90105438232422
                    }
                },
                "velocity": {
                    "x": 0.013866730965673923,
                    "y": -8.046403884887695,
                    "z": 0.0007815551362000406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.068115234375,
                        "y": 5145.27783203125,
                        "z": 371.624755859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005059491377323866,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00028009776724502444,
                        "pitch": 0.012772453017532825,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.3530445357901044e-05,
                    "y": -4.172378248767927e-05,
                    "z": 0.0005040442338213325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007977774366736412,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0013189727906137705,
                        "pitch": -0.019616302102804184,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 3.906217443727655e-06,
                    "y": 3.8008483898011036e-06,
                    "z": 0.0007977588102221489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.492949301493354e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0005187992937862873,
                        "pitch": -0.03604290634393692,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": 9.166827112494502e-06,
                    "y": 7.618581548740622e-06,
                    "z": -4.3319578253431246e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.48731330037117004,
                "transform": {
                    "location": {
                        "x": 983.790283203125,
                        "y": 5263.96044921875,
                        "z": 371.5997314453125
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.04686875641345978,
                        "yaw": 90.56797790527344
                    }
                },
                "velocity": {
                    "x": -0.007426419295370579,
                    "y": 0.4872555434703827,
                    "z": -0.0010616302024573088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24242845177650452,
        "expert_target_speed": 0,
        "target_point": [
            23.644924569439162,
            1.0923419156592487
        ],
        "target_point_next": [
            39.64249643254974,
            1.3725390116385396
        ]
    },
    "295": {
        "acceleration": [
            -0.4966878294944763,
            -22.212188720703125,
            0.005827709101140499
        ],
        "angular_velocity": [
            -5.415043830871582,
            0.16968992352485657,
            -0.009098431095480919
        ],
        "forward_vector": [
            0.018727153539657593,
            0.9997946619987488,
            -0.007744949776679277
        ],
        "right_vector": [
            -0.9998246431350708,
            0.018728770315647125,
            0.00013635003415402025
        ],
        "location": [
            984.5718383789062,
            5218.150390625,
            371.6218566894531
        ],
        "rotation": [
            -0.007812515832483768,
            -0.4437573552131653,
            88.92691802978516
        ],
        "velocity": [
            0.0004617059021256864,
            0.02299158088862896,
            -0.0015344716375693679
        ],
        "speed": 0.02299621629960951,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.220170497894287,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02614688873291,
                "transform": {
                    "location": {
                        "x": 986.9489135742188,
                        "y": 5237.09619140625,
                        "z": 371.6512756347656
                    },
                    "rotation": {
                        "roll": 0.001996190520003438,
                        "pitch": 0.02546977438032627,
                        "yaw": -89.8510971069336
                    }
                },
                "velocity": {
                    "x": 0.017615102231502533,
                    "y": -8.02612590789795,
                    "z": 0.004850311204791069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010066032409668,
                "transform": {
                    "location": {
                        "x": 987.0441284179688,
                        "y": 5185.25537109375,
                        "z": 371.66790771484375
                    },
                    "rotation": {
                        "roll": 0.00014721592015121132,
                        "pitch": -0.005737358704209328,
                        "yaw": -89.89990234375
                    }
                },
                "velocity": {
                    "x": 0.013931716792285442,
                    "y": -8.010053634643555,
                    "z": -0.0020587253384292126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0235595703125,
                        "y": 5143.1943359375,
                        "z": 371.623779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005002794787287712,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0009181597270071507,
                        "pitch": 0.012328490614891052,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.363898576300926e-07,
                    "y": -1.5015641110949218e-05,
                    "z": 0.0005000540404580534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001468975213356316,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00029924348928034306,
                        "pitch": -0.018885472789406776,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 4.315196565585211e-05,
                    "y": 2.203974327130709e-05,
                    "z": 0.0014681757893413305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012849307677242905,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.82470703125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.03588581085205078,
                        "yaw": 90.3442153930664
                    }
                },
                "velocity": {
                    "x": -3.2607288176222937e-06,
                    "y": -3.6694900700240396e-06,
                    "z": 0.000128399275126867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.665259063243866,
                "transform": {
                    "location": {
                        "x": 983.7888793945312,
                        "y": 5264.095703125,
                        "z": 371.59967041015625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": -0.02829747274518013,
                        "yaw": 90.56497192382812
                    }
                },
                "velocity": {
                    "x": -0.006867850199341774,
                    "y": 0.6652210354804993,
                    "z": -0.0018372153863310814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01682722382247448,
        "expert_target_speed": 0,
        "target_point": [
            23.27914804837574,
            1.1644871241808823
        ],
        "target_point_next": [
            39.275806386533,
            1.4927217053057058
        ]
    },
    "300": {
        "acceleration": [
            -0.005368040408939123,
            0.004811855033040047,
            0.0025991909205913544
        ],
        "angular_velocity": [
            1.387527585029602,
            -0.069826140999794,
            -0.0004945263499394059
        ],
        "forward_vector": [
            0.018728487193584442,
            0.9998021721839905,
            -0.006694624200463295
        ],
        "right_vector": [
            -0.999824583530426,
            0.01872934401035309,
            6.551224942086264e-05
        ],
        "location": [
            984.5718383789062,
            5218.1513671875,
            371.6216735839844
        ],
        "rotation": [
            -0.0037536597810685635,
            -0.38357657194137573,
            88.92684936523438
        ],
        "velocity": [
            -0.00045024766586720943,
            -0.004410019610077143,
            -0.0014525465667247772
        ],
        "speed": 0.004432944385155743,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.219285488128662,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99545955657959,
                "transform": {
                    "location": {
                        "x": 986.9535522460938,
                        "y": 5235.09765625,
                        "z": 371.6522521972656
                    },
                    "rotation": {
                        "roll": 0.00038711633533239365,
                        "pitch": 0.02613913267850876,
                        "yaw": -89.86725616455078
                    }
                },
                "velocity": {
                    "x": 0.018560463562607765,
                    "y": -7.9954376220703125,
                    "z": 0.003165397560223937
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046008110046387,
                "transform": {
                    "location": {
                        "x": 987.047607421875,
                        "y": 5183.24853515625,
                        "z": 371.6676025390625
                    },
                    "rotation": {
                        "roll": 0.00026713547413237393,
                        "pitch": -0.006987283006310463,
                        "yaw": -89.89995574951172
                    }
                },
                "velocity": {
                    "x": 0.014072149991989136,
                    "y": -8.045995712280273,
                    "z": -0.001242790138348937
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0252075195312,
                        "y": 5141.111328125,
                        "z": 371.622802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002508771140128374,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 4.168816403193887e-10,
                        "pitch": 0.012581207789480686,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -3.9566024497617036e-05,
                    "y": 1.8703678506426513e-05,
                    "z": 0.00024703043163754046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013504879316315055,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00040799457929097116,
                        "pitch": -0.019076718017458916,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 1.544349106552545e-05,
                    "y": 3.7258839711284963e-06,
                    "z": 0.0013503944501280785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10066571086645126,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83154296875,
                        "z": 371.611328125
                    },
                    "rotation": {
                        "roll": -0.0006103498744778335,
                        "pitch": -0.04400690644979477,
                        "yaw": 90.34668731689453
                    }
                },
                "velocity": {
                    "x": -0.0004382385523058474,
                    "y": 0.10066473484039307,
                    "z": -6.847381155239418e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007578494260087609,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10546875,
                        "z": 371.59954833984375
                    },
                    "rotation": {
                        "roll": -0.00015258883649948984,
                        "pitch": -0.08078064024448395,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -2.0377054170239717e-05,
                    "y": -0.00045720767229795456,
                    "z": -0.0006040543667040765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06944090127944946,
        "expert_target_speed": 0,
        "target_point": [
            23.278171657180565,
            1.1644688334619695
        ],
        "target_point_next": [
            39.274829995337825,
            1.492703414586793
        ]
    },
    "305": {
        "acceleration": [
            0.0035104546695947647,
            0.01004931703209877,
            -0.0028381356969475746
        ],
        "angular_velocity": [
            0.5702288150787354,
            0.024326805025339127,
            -0.00014304272190202028
        ],
        "forward_vector": [
            0.01872980035841465,
            0.9998214244842529,
            -0.002511856146156788
        ],
        "right_vector": [
            -0.999824583530426,
            0.01872994378209114,
            3.302306868135929e-05
        ],
        "location": [
            984.5718383789062,
            5218.15283203125,
            371.6207580566406
        ],
        "rotation": [
            -0.001892088446766138,
            -0.14391890168190002,
            88.92679595947266
        ],
        "velocity": [
            9.70170513028279e-05,
            -0.0018426271853968501,
            -0.0016076284227892756
        ],
        "speed": 0.0018451794635229964,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.217957973480225,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.068964004516602,
                "transform": {
                    "location": {
                        "x": 986.9581298828125,
                        "y": 5233.0869140625,
                        "z": 371.6531066894531
                    },
                    "rotation": {
                        "roll": 0.0001238171971635893,
                        "pitch": 0.029827434569597244,
                        "yaw": -89.87199401855469
                    }
                },
                "velocity": {
                    "x": 0.018021712079644203,
                    "y": -8.06894302368164,
                    "z": 0.002567233983427286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010295867919922,
                "transform": {
                    "location": {
                        "x": 987.0511474609375,
                        "y": 5181.2412109375,
                        "z": 371.6673278808594
                    },
                    "rotation": {
                        "roll": -0.0003051761304959655,
                        "pitch": -0.012424113228917122,
                        "yaw": -89.89998626708984
                    }
                },
                "velocity": {
                    "x": 0.014030043967068195,
                    "y": -8.010283470153809,
                    "z": -0.0017856883350759745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5719,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0269165039062,
                        "y": 5139.02783203125,
                        "z": 371.6218566894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003492833930067718,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0003051761304959655,
                        "pitch": 0.012868075631558895,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.9418490410316736e-05,
                    "y": -4.0419567085336894e-05,
                    "z": 0.00034639291698113084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013011456467211246,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0004028519324492663,
                        "pitch": -0.018981095403432846,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.6895966079318896e-05,
                    "y": -1.8932174498331733e-05,
                    "z": 0.0013001624029129744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002890312171075493,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.03387090563774109,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 9.647227852838114e-05,
                    "y": -1.3179317647882272e-05,
                    "z": -0.00027213682187721133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000119296986667905,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10546875,
                        "z": 371.599609375
                    },
                    "rotation": {
                        "roll": -0.0007629370666109025,
                        "pitch": -0.052674416452646255,
                        "yaw": 90.59446716308594
                    }
                },
                "velocity": {
                    "x": 6.747424322384177e-06,
                    "y": -9.645525278756395e-05,
                    "z": -6.987579399719834e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05345772206783295,
        "expert_target_speed": 0,
        "target_point": [
            23.276703461157982,
            1.164513542170544
        ],
        "target_point_next": [
            39.27336078189452,
            1.4927977040009583
        ]
    },
    "310": {
        "acceleration": [
            -0.002424193313345313,
            -0.000485891941934824,
            -0.007934147492051125
        ],
        "angular_velocity": [
            0.16945385932922363,
            -0.03285343199968338,
            9.12266259547323e-05
        ],
        "forward_vector": [
            0.01872984506189823,
            0.999823808670044,
            -0.001254915725439787
        ],
        "right_vector": [
            -0.999824583530426,
            0.01872989535331726,
            2.8229491363163106e-05
        ],
        "location": [
            984.5718383789062,
            5218.15283203125,
            371.6205139160156
        ],
        "rotation": [
            -0.0016174319898709655,
            -0.07190139591693878,
            88.92679595947266
        ],
        "velocity": [
            -0.00011159010318806395,
            -0.0005491814808920026,
            -0.0001554607442812994
        ],
        "speed": 0.0005604040061279503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.217957973480225,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993765354156494,
                "transform": {
                    "location": {
                        "x": 986.9622192382812,
                        "y": 5231.07958984375,
                        "z": 371.654052734375
                    },
                    "rotation": {
                        "roll": 0.00032781323534436524,
                        "pitch": 0.022669397294521332,
                        "yaw": -89.88274383544922
                    }
                },
                "velocity": {
                    "x": 0.014970329590141773,
                    "y": -7.993751049041748,
                    "z": 0.0021094989497214556
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045373916625977,
                "transform": {
                    "location": {
                        "x": 987.0546875,
                        "y": 5179.234375,
                        "z": 371.6668395996094
                    },
                    "rotation": {
                        "roll": -0.0006103517953306437,
                        "pitch": -0.012232868000864983,
                        "yaw": -89.90001678466797
                    }
                },
                "velocity": {
                    "x": 0.014002371579408646,
                    "y": -8.045361518859863,
                    "z": -0.0016541766235604882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.554803935112432e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0005916342488490045,
                        "pitch": 0.012697321362793446,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -5.9273679653415456e-05,
                    "y": -2.7020902052754536e-05,
                    "z": -5.545239764614962e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004189393075648695,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0004895374877378345,
                        "pitch": -0.018912792205810547,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 3.99415148422122e-05,
                    "y": 4.394826191855827e-06,
                    "z": 0.00041700780275277793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.126956264371984e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0003662105882540345,
                        "pitch": -0.03527792543172836,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -4.266939413355431e-06,
                    "y": -4.426632131071528e-06,
                    "z": 4.080900544067845e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007012969581410289,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.599609375
                    },
                    "rotation": {
                        "roll": -0.0003356932138558477,
                        "pitch": -0.04419132322072983,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": 0.0003728840674739331,
                    "y": -4.955787881044671e-05,
                    "z": 0.0005918774986639619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03232904151082039,
        "expert_target_speed": 0,
        "target_point": [
            23.276707070387808,
            1.1644413973836005
        ],
        "target_point_next": [
            39.27336540854507,
            1.492675978508424
        ]
    },
    "315": {
        "acceleration": [
            -0.0035156141966581345,
            0.0026015755720436573,
            0.0034018107689917088
        ],
        "angular_velocity": [
            0.07576285302639008,
            -0.02637662924826145,
            5.5183561926241964e-05
        ],
        "forward_vector": [
            0.01873021200299263,
            0.9998243451118469,
            -0.0006582735804840922
        ],
        "right_vector": [
            -0.999824583530426,
            0.018730217590928078,
            1.5978584997355938e-06
        ],
        "location": [
            984.5718383789062,
            5218.1533203125,
            371.6203308105469
        ],
        "rotation": [
            -9.155056613963097e-05,
            -0.037716303020715714,
            88.92677307128906
        ],
        "velocity": [
            -7.332164386752993e-05,
            -0.0002460259129293263,
            9.141580812865868e-05
        ],
        "speed": 0.00025671932785075873,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.217514991760254,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050104141235352,
                "transform": {
                    "location": {
                        "x": 986.96630859375,
                        "y": 5229.07470703125,
                        "z": 371.65484619140625
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": 0.024766264483332634,
                        "yaw": -89.88525390625
                    }
                },
                "velocity": {
                    "x": 0.016083328053355217,
                    "y": -8.050087928771973,
                    "z": 0.002245578682050109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010854721069336,
                "transform": {
                    "location": {
                        "x": 987.05810546875,
                        "y": 5177.2275390625,
                        "z": 371.6664123535156
                    },
                    "rotation": {
                        "roll": 0.000447535770945251,
                        "pitch": -0.012547057121992111,
                        "yaw": -89.90001678466797
                    }
                },
                "velocity": {
                    "x": 0.01400794554501772,
                    "y": -8.010842323303223,
                    "z": -0.0020525073632597923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00035166513407602906,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.012622188776731491,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 9.378544928040355e-05,
                    "y": 1.0389037015556823e-05,
                    "z": 0.00033876943052746356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5430950699956156e-05,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00045062575372867286,
                        "pitch": -0.019042566418647766,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 3.0696105568495113e-06,
                    "y": -6.447080203031419e-09,
                    "z": 2.52450136031257e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011543252185219899,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0006713863112963736,
                        "pitch": -0.03607022762298584,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 2.204553129558917e-05,
                    "y": 6.768368166376604e-06,
                    "z": -0.00011310548143228516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001675979874562472,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0016174295451492071,
                        "pitch": -0.042087621986866,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -0.0001658601249800995,
                    "y": 2.4072294763755053e-05,
                    "z": 1.666992091031716e-07
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.018369164317846298,
        "expert_target_speed": 0,
        "target_point": [
            23.276215265588743,
            1.164504395297954
        ],
        "target_point_next": [
            39.27287258632528,
            1.4927885571283683
        ]
    },
    "320": {
        "acceleration": [
            -0.0010628188028931618,
            0.00031207920983433723,
            0.0011554434895515442
        ],
        "angular_velocity": [
            0.0377417653799057,
            -0.029667768627405167,
            3.5276159906061366e-05
        ],
        "forward_vector": [
            0.01873021386563778,
            0.9998244643211365,
            -0.0004825591458939016
        ],
        "right_vector": [
            -0.999824583530426,
            0.01873021572828293,
            -1.4551915228366852e-11
        ],
        "location": [
            984.5718383789062,
            5218.15380859375,
            371.62030029296875
        ],
        "rotation": [
            8.337633916610798e-10,
            -0.027648603543639183,
            88.92677307128906
        ],
        "velocity": [
            -9.08821530174464e-05,
            -0.00012234991299919784,
            -5.1608047215268016e-05
        ],
        "speed": 0.00015241084918075164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.2170729637146,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013232231140137,
                "transform": {
                    "location": {
                        "x": 986.9702758789062,
                        "y": 5227.06591796875,
                        "z": 371.6556701660156
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.023816868662834167,
                        "yaw": -89.88531494140625
                    }
                },
                "velocity": {
                    "x": 0.015982167795300484,
                    "y": -8.013216018676758,
                    "z": 0.0021114444825798273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045799255371094,
                "transform": {
                    "location": {
                        "x": 987.0616455078125,
                        "y": 5175.22021484375,
                        "z": 371.6659240722656
                    },
                    "rotation": {
                        "roll": 0.0003270890738349408,
                        "pitch": -0.012362641282379627,
                        "yaw": -89.90013885498047
                    }
                },
                "velocity": {
                    "x": 0.013956091366708279,
                    "y": -8.045785903930664,
                    "z": -0.00200901972129941
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010937177285086364,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 4.31697626481764e-05,
                        "pitch": 0.01274513266980648,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -3.317055234219879e-05,
                    "y": 4.336346682976e-05,
                    "z": -9.477081766817719e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008756117895245552,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.001550357905216515,
                        "pitch": -0.019739245995879173,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.18276249547489e-05,
                    "y": 6.051933087292127e-05,
                    "z": 0.0008725158404558897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002475593064446002,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": -0.03591996431350708,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 0.0001073793027899228,
                    "y": -5.115028216096107e-06,
                    "z": -0.00022300028649624437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003840494609903544,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0013732884544879198,
                        "pitch": -0.0417461134493351,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -6.315573045867495e-06,
                    "y": -2.1665318854502402e-05,
                    "z": 0.00038338583544828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.011217201128602028,
        "expert_target_speed": 0,
        "target_point": [
            23.275730679192637,
            1.1644231066646877
        ],
        "target_point_next": [
            39.2723890173499,
            1.4926576877895115
        ]
    },
    "325": {
        "acceleration": [
            -0.0023965933360159397,
            0.002463504672050476,
            0.004420233424752951
        ],
        "angular_velocity": [
            -0.009436837397515774,
            0.0016512464499101043,
            1.8137425286113285e-05
        ],
        "forward_vector": [
            0.018729738891124725,
            0.9998245239257812,
            -0.0003945827193092555
        ],
        "right_vector": [
            -0.999824583530426,
            0.018729737028479576,
            -7.205147539934842e-06
        ],
        "location": [
            984.5718383789062,
            5218.15380859375,
            371.62030029296875
        ],
        "rotation": [
            0.0004128245636820793,
            -0.022607924416661263,
            88.92680358886719
        ],
        "velocity": [
            -5.277241598378168e-06,
            3.161427957820706e-05,
            0.0002505791781004518
        ],
        "speed": 3.2051707476150047e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.2170729637146,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041065216064453,
                "transform": {
                    "location": {
                        "x": 986.97412109375,
                        "y": 5225.06005859375,
                        "z": 371.65643310546875
                    },
                    "rotation": {
                        "roll": 7.512207389481773e-07,
                        "pitch": 0.022635245695710182,
                        "yaw": -89.88916778564453
                    }
                },
                "velocity": {
                    "x": 0.015542661771178246,
                    "y": -8.04104995727539,
                    "z": 0.0019048595568165183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01070785522461,
                "transform": {
                    "location": {
                        "x": 987.0651245117188,
                        "y": 5173.21337890625,
                        "z": 371.6654968261719
                    },
                    "rotation": {
                        "roll": -0.0006408696644939482,
                        "pitch": -0.012758792378008366,
                        "yaw": -89.89998626708984
                    }
                },
                "velocity": {
                    "x": 0.013922778889536858,
                    "y": -8.010695457458496,
                    "z": -0.0021821116097271442
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.542799327580724e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0004895645543001592,
                        "pitch": 0.012540226802229881,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -2.1513578474241513e-08,
                    "y": -2.821913085426786e-06,
                    "z": 1.5167706806096248e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.592345355078578e-05,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0002192547544836998,
                        "pitch": -0.019288452342152596,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 5.845998748554848e-05,
                    "y": -2.5638782972237095e-05,
                    "z": -4.110295412829146e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3029845730634406e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": -0.03619316965341568,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -6.193112312757876e-06,
                    "y": -5.137636435392778e-06,
                    "z": 5.241578764980659e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006247369456104934,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0016479468904435635,
                        "pitch": -0.04180758446455002,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -2.5623943656682968e-05,
                    "y": 3.826094325631857e-05,
                    "z": 0.0006230375147424638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.011837533675134182,
        "expert_target_speed": 0,
        "target_point": [
            23.275727070019506,
            1.1644952484253637
        ],
        "target_point_next": [
            39.27238439075604,
            1.4927794102557783
        ]
    },
    "330": {
        "acceleration": [
            0.0012190262787044048,
            -0.0008016183273866773,
            0.0032477607019245625
        ],
        "angular_velocity": [
            0.0144489211961627,
            0.004547259770333767,
            7.934195309644565e-06
        ],
        "forward_vector": [
            0.018729738891124725,
            0.9998245239257812,
            -0.0003584623336791992
        ],
        "right_vector": [
            -0.999824583530426,
            0.018729738891124725,
            -5.049193987360923e-06
        ],
        "location": [
            984.5718383789062,
            5218.15380859375,
            371.62030029296875
        ],
        "rotation": [
            0.0002892975462600589,
            -0.02053837850689888,
            88.92680358886719
        ],
        "velocity": [
            5.012736437493004e-06,
            -4.609889583662152e-05,
            0.00027190460241399705
        ],
        "speed": 4.6370634284506514e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.2170729637146,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01331615447998,
                "transform": {
                    "location": {
                        "x": 986.9778442382812,
                        "y": 5223.05322265625,
                        "z": 371.65716552734375
                    },
                    "rotation": {
                        "roll": 0.002199586946517229,
                        "pitch": 0.021385321393609047,
                        "yaw": -89.89446258544922
                    }
                },
                "velocity": {
                    "x": 0.01323400903493166,
                    "y": -8.0133056640625,
                    "z": 0.0019445609068498015
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045507431030273,
                "transform": {
                    "location": {
                        "x": 987.0686645507812,
                        "y": 5171.2060546875,
                        "z": 371.6650390625
                    },
                    "rotation": {
                        "roll": 0.00045087459147907794,
                        "pitch": -0.01169328298419714,
                        "yaw": -89.90001678466797
                    }
                },
                "velocity": {
                    "x": 0.01413736306130886,
                    "y": -8.04549503326416,
                    "z": -0.0012714576441794634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005791917792521417,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00036621050094254315,
                        "pitch": 0.01274513266980648,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 7.877742609707639e-05,
                    "y": -1.2258749848115258e-05,
                    "z": 0.0005736784660257399
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011871681781485677,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0007170773460529745,
                        "pitch": -0.019322603940963745,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.3423978038626956e-06,
                    "y": 6.6844859247794375e-06,
                    "z": 0.0011871446622535586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7753975043888204e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0002746583486441523,
                        "pitch": -0.03615901991724968,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 7.3685700954229105e-06,
                    "y": 3.200075525455759e-06,
                    "z": 1.583247649250552e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040912063559517264,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": -0.0414729081094265,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -1.2097811122657731e-05,
                    "y": -3.1610577480023494e-06,
                    "z": 0.0004089295107405633
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.00928653683513403,
        "expert_target_speed": 0,
        "target_point": [
            23.275727070019506,
            1.1644952484253637
        ],
        "target_point_next": [
            39.27238439075604,
            1.4927794102557783
        ]
    },
    "335": {
        "acceleration": [
            0.0037846274208277464,
            -0.0007174195488914847,
            -0.0027003795839846134
        ],
        "angular_velocity": [
            3.0284836611826904e-05,
            0.05065561458468437,
            -2.171578125853557e-05
        ],
        "forward_vector": [
            0.01873009465634823,
            0.9998245239257812,
            -0.0003472566313575953
        ],
        "right_vector": [
            -0.999824583530426,
            0.01873009279370308,
            -1.1391748557798564e-05
        ],
        "location": [
            984.5718383789062,
            5218.15380859375,
            371.62030029296875
        ],
        "rotation": [
            0.0006526991492137313,
            -0.019896339625120163,
            88.9267807006836
        ],
        "velocity": [
            0.00017833018500823528,
            3.1671021361034946e-07,
            -0.00015953717229422182
        ],
        "speed": 0.00017833046624295812,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.2170729637146,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045318603515625,
                "transform": {
                    "location": {
                        "x": 986.9815673828125,
                        "y": 5221.04541015625,
                        "z": 371.6579284667969
                    },
                    "rotation": {
                        "roll": 0.0010864653158932924,
                        "pitch": 0.021474113687872887,
                        "yaw": -89.89706420898438
                    }
                },
                "velocity": {
                    "x": 0.014454077929258347,
                    "y": -8.045305252075195,
                    "z": 0.0022764396853744984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010699272155762,
                "transform": {
                    "location": {
                        "x": 987.0721435546875,
                        "y": 5169.19921875,
                        "z": 371.66455078125
                    },
                    "rotation": {
                        "roll": -0.0003967279044445604,
                        "pitch": -0.012232868000864983,
                        "yaw": -89.90013885498047
                    }
                },
                "velocity": {
                    "x": 0.013936081901192665,
                    "y": -8.010686874389648,
                    "z": -0.0019623374100774527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001483630621805787,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0005495442310348153,
                        "pitch": 0.012622188776731491,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 5.274506293062586e-06,
                    "y": 1.2189218068670016e-05,
                    "z": 0.00014776739408262074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005528979236260056,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0014507040614262223,
                        "pitch": -0.019711924716830254,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.667254688683897e-05,
                    "y": 1.717066697892733e-05,
                    "z": 0.0005506568122655153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.652608084958047e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.0359472818672657,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 1.1298831850581337e-05,
                    "y": -5.203964974498376e-06,
                    "z": 8.562720176996663e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004920045612379909,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0009460463770665228,
                        "pitch": -0.04184173792600632,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -4.813600389752537e-05,
                    "y": 1.3901153579354286e-06,
                    "z": 0.0004896422033198178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.009255294688045979,
        "expert_target_speed": 0,
        "target_point": [
            23.275727070019506,
            1.1644952484253637
        ],
        "target_point_next": [
            39.27238439075604,
            1.4927794102557783
        ]
    },
    "340": {
        "acceleration": [
            -0.001868362887762487,
            -8.146900654537603e-05,
            -0.00018392541096545756
        ],
        "angular_velocity": [
            0.0019528599223122,
            0.0009958746377378702,
            2.4178665626095608e-05
        ],
        "forward_vector": [
            0.01873009465634823,
            0.9998245239257812,
            -0.000339269608957693
        ],
        "right_vector": [
            -0.999824583530426,
            0.01873008906841278,
            -2.3639933715458028e-05
        ],
        "location": [
            984.5718383789062,
            5218.15380859375,
            371.62030029296875
        ],
        "rotation": [
            0.0013544685207307339,
            -0.019438717514276505,
            88.9267807006836
        ],
        "velocity": [
            1.2558758498926181e-05,
            -6.082070740376366e-06,
            7.439741693815449e-06
        ],
        "speed": 1.3953995826475402e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.2170729637146,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009181022644043,
                "transform": {
                    "location": {
                        "x": 986.9850463867188,
                        "y": 5219.0390625,
                        "z": 371.6585998535156
                    },
                    "rotation": {
                        "roll": 0.0005028377054259181,
                        "pitch": 0.019582150503993034,
                        "yaw": -89.89897918701172
                    }
                },
                "velocity": {
                    "x": 0.012659989297389984,
                    "y": -8.009170532226562,
                    "z": 0.0024885558523237705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046012878417969,
                "transform": {
                    "location": {
                        "x": 987.07568359375,
                        "y": 5167.19189453125,
                        "z": 371.66412353515625
                    },
                    "rotation": {
                        "roll": -0.00033569394145160913,
                        "pitch": -0.012027962133288383,
                        "yaw": -89.90005493164062
                    }
                },
                "velocity": {
                    "x": 0.014042477123439312,
                    "y": -8.046000480651855,
                    "z": -0.002331857569515705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005139943095855415,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00034269504249095917,
                        "pitch": 0.012956867925822735,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -6.49485009489581e-05,
                    "y": 2.0344354197732173e-05,
                    "z": 0.0005094683147035539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00044227729085832834,
                        "pitch": -0.019199660047888756,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.260364479094278e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.03585848957300186,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -1.9709607386175776e-06,
                    "y": 5.1567935770435724e-06,
                    "z": 1.133025398303289e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.191573968157172e-05,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0013732884544879198,
                        "pitch": -0.04168464243412018,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -9.731948011904024e-07,
                    "y": 1.8131732986148563e-06,
                    "z": 7.188629388110712e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0104380426928401,
        "expert_target_speed": 0.0,
        "target_point": [
            23.275730679192637,
            1.1644231066646877
        ],
        "target_point_next": [
            39.2723890173499,
            1.4926576877895115
        ]
    },
    "345": {
        "acceleration": [
            0.7043808102607727,
            3.7858705520629883,
            0.005040550138801336
        ],
        "angular_velocity": [
            0.7803182601928711,
            -0.6010369062423706,
            -1.4041463136672974
        ],
        "forward_vector": [
            0.021011782810091972,
            0.9997789859771729,
            0.0006814001826569438
        ],
        "right_vector": [
            -0.9997789859771729,
            0.02101222425699234,
            -0.0006474799010902643
        ],
        "location": [
            984.5757446289062,
            5218.1796875,
            371.62005615234375
        ],
        "rotation": [
            0.03709787875413895,
            0.03904135897755623,
            88.79602813720703
        ],
        "velocity": [
            0.05702151730656624,
            0.3011702299118042,
            5.333900480763987e-05
        ],
        "speed": 0.3065207347326964,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.195285320281982,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.7086181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.017225736752152443,
                        "yaw": 90.10231018066406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04679012298584,
                "transform": {
                    "location": {
                        "x": 986.9885864257812,
                        "y": 5217.03173828125,
                        "z": 371.65924072265625
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": 0.019991962239146233,
                        "yaw": -89.90093231201172
                    }
                },
                "velocity": {
                    "x": 0.013939939439296722,
                    "y": -8.046777725219727,
                    "z": 0.0014139557024464011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009517669677734,
                "transform": {
                    "location": {
                        "x": 987.0791015625,
                        "y": 5165.18505859375,
                        "z": 371.6637268066406
                    },
                    "rotation": {
                        "roll": -0.00033569353399798274,
                        "pitch": -0.01282026432454586,
                        "yaw": -89.90005493164062
                    }
                },
                "velocity": {
                    "x": 0.013935918919742107,
                    "y": -8.009505271911621,
                    "z": -0.001717205042950809
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.7495763283222914e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0001497893244959414,
                        "pitch": 0.01274513266980648,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 3.3082495065173134e-05,
                    "y": -2.879683415812906e-05,
                    "z": 1.8224660379928537e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002253467682749033,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00044449258712120354,
                        "pitch": -0.019138189032673836,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.0686117093428038e-05,
                    "y": 5.732215868192725e-06,
                    "z": 0.0002250202524010092
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.8386027629021555e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": -0.03585848957300186,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -7.226961315609515e-06,
                    "y": -2.0309769297455205e-06,
                    "z": 4.780014569405466e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002479966206010431,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0003051791281905025,
                        "pitch": -0.04129531979560852,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -1.7451071471441537e-05,
                    "y": -1.3655186194228008e-05,
                    "z": 0.0002470047038514167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.022097770124673843,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            23.247053345677255,
            1.2209777970663975
        ],
        "target_point_next": [
            39.242919732129984,
            1.5857715397950964
        ]
    },
    "350": {
        "acceleration": [
            0.775570273399353,
            3.0461585521698,
            -0.00039424747228622437
        ],
        "angular_velocity": [
            0.3153258264064789,
            -0.10804029554128647,
            -6.4283447265625
        ],
        "forward_vector": [
            0.03580112382769585,
            0.9993561506271362,
            0.002357719000428915
        ],
        "right_vector": [
            -0.9993571043014526,
            0.03580547869205475,
            -0.0018306804122403264
        ],
        "location": [
            984.5988159179688,
            5218.30322265625,
            371.6197204589844
        ],
        "rotation": [
            0.1048906147480011,
            0.13508747518062592,
            87.94830322265625
        ],
        "velocity": [
            0.15809650719165802,
            0.7202129364013672,
            -0.0011206435738131404
        ],
        "speed": 0.7373609559409027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.0936102867126465,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0313643142580986,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.61376953125
                    },
                    "rotation": {
                        "roll": -0.0005798332276754081,
                        "pitch": 0.0184346791356802,
                        "yaw": 90.10232543945312
                    }
                },
                "velocity": {
                    "x": -0.00022740739223081619,
                    "y": -3.0175891879480332e-05,
                    "z": 0.03136347606778145
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009173393249512,
                "transform": {
                    "location": {
                        "x": 986.9920043945312,
                        "y": 5215.025390625,
                        "z": 371.6599426269531
                    },
                    "rotation": {
                        "roll": 4.970813461113721e-05,
                        "pitch": 0.018946943804621696,
                        "yaw": -89.90084075927734
                    }
                },
                "velocity": {
                    "x": 0.01386233326047659,
                    "y": -8.009160995483398,
                    "z": 0.002345895627513528
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045676231384277,
                "transform": {
                    "location": {
                        "x": 987.0826416015625,
                        "y": 5163.17822265625,
                        "z": 371.66326904296875
                    },
                    "rotation": {
                        "roll": 0.0004160445532761514,
                        "pitch": -0.012547057121992111,
                        "yaw": -89.89995574951172
                    }
                },
                "velocity": {
                    "x": 0.014083215966820717,
                    "y": -8.045663833618164,
                    "z": -0.0025183868128806353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": 0.012540226802229881,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018726526468526572,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.018769359216094017,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.976917246793164e-06,
                    "y": 7.705531970714219e-06,
                    "z": -0.00018709621508605778
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.742807742441073e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.03585848957300186,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": 2.0963863789802417e-05,
                    "y": -3.1895795018499484e-06,
                    "z": 9.509244409855455e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00025863185874186456,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.001098633510991931,
                        "pitch": -0.04153437912464142,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": -2.565276372479275e-05,
                    "y": -4.5686232624575496e-05,
                    "z": -0.0002532689250074327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10099676251411438,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            23.102168205387652,
            1.583335162473713
        ],
        "target_point_next": [
            39.09088883835011,
            2.1846906721874015
        ]
    },
    "355": {
        "acceleration": [
            0.564759373664856,
            1.5249228477478027,
            -0.009051131084561348
        ],
        "angular_velocity": [
            0.016476323828101158,
            -0.12403776496648788,
            -7.0809431076049805
        ],
        "forward_vector": [
            0.06406264007091522,
            0.9979420900344849,
            0.002747412770986557
        ],
        "right_vector": [
            -0.9979425668716431,
            0.06406927108764648,
            -0.002399945631623268
        ],
        "location": [
            984.6484985351562,
            5218.5341796875,
            371.6195373535156
        ],
        "rotation": [
            0.13750740885734558,
            0.15741536021232605,
            86.32695007324219
        ],
        "velocity": [
            0.28370338678359985,
            1.108826756477356,
            -0.0021053694654256105
        ],
        "speed": 1.1445454938763153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.908603668212891,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.023192813619971275,
                "transform": {
                    "location": {
                        "x": 984.0073852539062,
                        "y": 5149.69970703125,
                        "z": 371.623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.01808634027838707,
                        "yaw": 90.10218048095703
                    }
                },
                "velocity": {
                    "x": 0.00010077146725961939,
                    "y": 0.0021729660220444202,
                    "z": 0.023090574890375137
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04569149017334,
                "transform": {
                    "location": {
                        "x": 986.9955444335938,
                        "y": 5213.01806640625,
                        "z": 371.66058349609375
                    },
                    "rotation": {
                        "roll": 0.0007692183717153966,
                        "pitch": 0.019677773118019104,
                        "yaw": -89.90087127685547
                    }
                },
                "velocity": {
                    "x": 0.01396033726632595,
                    "y": -8.045679092407227,
                    "z": 0.0021451376378536224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00984001159668,
                "transform": {
                    "location": {
                        "x": 987.0861206054688,
                        "y": 5161.1708984375,
                        "z": 371.6628112792969
                    },
                    "rotation": {
                        "roll": 0.0008896358194760978,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.90008544921875
                    }
                },
                "velocity": {
                    "x": 0.01406191661953926,
                    "y": -8.00982666015625,
                    "z": -0.002145957900211215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003162301436532289,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -3.0518236599164084e-05,
                        "pitch": 0.01303883083164692,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -3.490374001557939e-05,
                    "y": -3.630444916780107e-05,
                    "z": 0.0003121941990684718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.601909990422428e-05,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00042162826866842806,
                        "pitch": -0.018946943804621696,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 1.0515010444578365e-06,
                    "y": -1.431228611181723e-06,
                    "z": 6.599521293537691e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.938614337239414e-05,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.03585848957300186,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -1.3298023986862972e-05,
                    "y": -3.0172523111104965e-06,
                    "z": 8.833991887513548e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003384915180504322,
                "transform": {
                    "location": {
                        "x": 983.788818359375,
                        "y": 5264.10595703125,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.001098633510991931,
                        "pitch": -0.04159585013985634,
                        "yaw": 90.59445190429688
                    }
                },
                "velocity": {
                    "x": 1.4058236956770997e-05,
                    "y": -7.265573458425933e-07,
                    "z": -0.00033819867530837655
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12433232367038727,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            22.814454561338813,
            2.271141826030715
        ],
        "target_point_next": [
            38.77975914016764,
            3.3246434317293354
        ]
    },
    "360": {
        "acceleration": [
            0.5012995004653931,
            0.8424210548400879,
            -0.00208091689273715
        ],
        "angular_velocity": [
            -0.18246175348758698,
            -0.022703785449266434,
            -11.102997779846191
        ],
        "forward_vector": [
            0.10428886860609055,
            0.9945440888404846,
            0.002417800249531865
        ],
        "right_vector": [
            -0.9945423603057861,
            0.1042955070734024,
            -0.002804350573569536
        ],
        "location": [
            984.7296142578125,
            5218.853515625,
            371.6194763183594
        ],
        "rotation": [
            0.16067813336849213,
            0.13852988183498383,
            84.01378631591797
        ],
        "velocity": [
            0.4220506250858307,
            1.4003723859786987,
            -0.0017529582837596536
        ],
        "speed": 1.4625900141690473,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.664113998413086,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7546305656433105,
                "transform": {
                    "location": {
                        "x": 984.0068359375,
                        "y": 5149.96337890625,
                        "z": 371.6258850097656
                    },
                    "rotation": {
                        "roll": -0.00021361905965022743,
                        "pitch": 0.2624090313911438,
                        "yaw": 90.08242797851562
                    }
                },
                "velocity": {
                    "x": -0.004372977185994387,
                    "y": 1.7546191215515137,
                    "z": 0.004616518039256334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01081371307373,
                "transform": {
                    "location": {
                        "x": 986.9989624023438,
                        "y": 5211.01123046875,
                        "z": 371.6612548828125
                    },
                    "rotation": {
                        "roll": -0.0010070803109556437,
                        "pitch": 0.019643623381853104,
                        "yaw": -89.90084838867188
                    }
                },
                "velocity": {
                    "x": 0.013816412538290024,
                    "y": -8.010802268981934,
                    "z": 0.0017418861389160156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045886993408203,
                "transform": {
                    "location": {
                        "x": 987.0896606445312,
                        "y": 5159.1640625,
                        "z": 371.6623229980469
                    },
                    "rotation": {
                        "roll": -3.051740350201726e-05,
                        "pitch": -0.0118093965575099,
                        "yaw": -89.90008544921875
                    }
                },
                "velocity": {
                    "x": 0.014026780612766743,
                    "y": -8.045873641967773,
                    "z": -0.002695436356589198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.177775791613385e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00021362349798437208,
                        "pitch": 0.012615358456969261,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -7.682093564653769e-05,
                    "y": 2.4709937861189246e-05,
                    "z": -4.3716350774047896e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00023211596999317408,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0004077377961948514,
                        "pitch": -0.019104037433862686,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 8.781687029113527e-06,
                    "y": 1.5103909390745685e-05,
                    "z": 0.0002314575103810057
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004914882010780275,
                "transform": {
                    "location": {
                        "x": 983.7452392578125,
                        "y": 5253.83251953125,
                        "z": 371.6112365722656
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": -0.0357423797249794,
                        "yaw": 90.3468246459961
                    }
                },
                "velocity": {
                    "x": -1.8932996681542136e-05,
                    "y": -7.026153525657719e-06,
                    "z": -0.0004910731222480536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2112906575202942,
                "transform": {
                    "location": {
                        "x": 983.7886352539062,
                        "y": 5264.1201171875,
                        "z": 371.5996398925781
                    },
                    "rotation": {
                        "roll": -0.0005493166390806437,
                        "pitch": -0.016604188829660416,
                        "yaw": 90.58305358886719
                    }
                },
                "velocity": {
                    "x": -0.0031413650140166283,
                    "y": 0.21126729249954224,
                    "z": 7.114410254871473e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1904059499502182,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            22.378145125885727,
            3.237474280557965
        ],
        "target_point_next": [
            38.28792032425243,
            4.9344919779959735
        ]
    },
    "365": {
        "acceleration": [
            0.7413375377655029,
            1.0671186447143555,
            0.003682328388094902
        ],
        "angular_velocity": [
            -0.0512600839138031,
            -0.12613330781459808,
            -11.229196548461914
        ],
        "forward_vector": [
            0.15239718556404114,
            0.9883173108100891,
            0.00198089936748147
        ],
        "right_vector": [
            -0.9883135557174683,
            0.1524028331041336,
            -0.0031044092029333115
        ],
        "location": [
            984.8450317382812,
            5219.236328125,
            371.6194152832031
        ],
        "rotation": [
            0.17787016928195953,
            0.11349724978208542,
            81.2341079711914
        ],
        "velocity": [
            0.5832181572914124,
            1.6511486768722534,
            -0.0020699501037597656
        ],
        "speed": 1.7511240310530216,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.390544891357422,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7537612915039062,
                "transform": {
                    "location": {
                        "x": 984.005859375,
                        "y": 5150.525390625,
                        "z": 371.62646484375
                    },
                    "rotation": {
                        "roll": 0.00015261340013239533,
                        "pitch": 0.24295663833618164,
                        "yaw": 90.08476257324219
                    }
                },
                "velocity": {
                    "x": -0.004305267706513405,
                    "y": 2.7537574768066406,
                    "z": 0.0014196777483448386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045672416687012,
                "transform": {
                    "location": {
                        "x": 987.0025024414062,
                        "y": 5209.00390625,
                        "z": 371.6618957519531
                    },
                    "rotation": {
                        "roll": 0.0006883191526867449,
                        "pitch": 0.019759736955165863,
                        "yaw": -89.90093231201172
                    }
                },
                "velocity": {
                    "x": 0.01398761197924614,
                    "y": -8.045660018920898,
                    "z": 0.0014721965417265892
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010117530822754,
                "transform": {
                    "location": {
                        "x": 987.09326171875,
                        "y": 5157.15673828125,
                        "z": 371.6619567871094
                    },
                    "rotation": {
                        "roll": -0.0008544923039153218,
                        "pitch": -0.012512905523180962,
                        "yaw": -89.89679718017578
                    }
                },
                "velocity": {
                    "x": 0.01458100974559784,
                    "y": -8.010104179382324,
                    "z": -0.0019269274780526757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005178697174414992,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 9.398179827257991e-05,
                        "pitch": 0.01273147203028202,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -4.5088650949765e-05,
                    "y": 6.126672815298662e-06,
                    "z": 0.0005158667918294668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009476147242821753,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00039493702934123576,
                        "pitch": -0.019165510311722755,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 6.227116682566702e-05,
                    "y": -9.458232852921356e-06,
                    "z": 0.0009455191902816296
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.36261793971061707,
                "transform": {
                    "location": {
                        "x": 983.7448120117188,
                        "y": 5253.8623046875,
                        "z": 371.6114807128906
                    },
                    "rotation": {
                        "roll": -3.0515755497617647e-05,
                        "pitch": -0.06386909633874893,
                        "yaw": 90.3174057006836
                    }
                },
                "velocity": {
                    "x": -0.001842574100010097,
                    "y": 0.3626118004322052,
                    "z": -0.0010268879123032093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9949744939804077,
                "transform": {
                    "location": {
                        "x": 983.7869873046875,
                        "y": 5264.267578125,
                        "z": 371.59967041015625
                    },
                    "rotation": {
                        "roll": -0.00103759893681854,
                        "pitch": 0.058111246675252914,
                        "yaw": 90.6236572265625
                    }
                },
                "velocity": {
                    "x": -0.011234003119170666,
                    "y": 0.9949093461036682,
                    "z": -0.001848354353569448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.35722750425338745,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            21.798878380295786,
            4.374651737366805
        ],
        "target_point_next": [
            37.60763448113947,
            6.841237732628245
        ]
    },
    "370": {
        "acceleration": [
            0.3211045265197754,
            0.49930334091186523,
            -0.013062856160104275
        ],
        "angular_velocity": [
            -0.076730877161026,
            0.2575782537460327,
            -12.601384162902832
        ],
        "forward_vector": [
            0.2054453194141388,
            0.9786670804023743,
            0.0017291298136115074
        ],
        "right_vector": [
            -0.9786639213562012,
            0.20544947683811188,
            -0.0027210416737943888
        ],
        "location": [
            984.9989624023438,
            5219.6806640625,
            371.61932373046875
        ],
        "rotation": [
            0.155904620885849,
            0.09907189011573792,
            78.14441680908203
        ],
        "velocity": [
            0.7116107940673828,
            1.8604490756988525,
            -0.0021763991098850965
        ],
        "speed": 1.991898763868768,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.101897716522217,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0733537673950195,
                "transform": {
                    "location": {
                        "x": 984.0043334960938,
                        "y": 5151.3857421875,
                        "z": 371.6268310546875
                    },
                    "rotation": {
                        "roll": -0.00015258720668498427,
                        "pitch": 0.28326159715652466,
                        "yaw": 90.09358978271484
                    }
                },
                "velocity": {
                    "x": -0.007020849268883467,
                    "y": 4.073347091674805,
                    "z": 0.0021909521892666817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00963306427002,
                "transform": {
                    "location": {
                        "x": 987.0059204101562,
                        "y": 5206.99755859375,
                        "z": 371.6625671386719
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.018591774627566338,
                        "yaw": -89.9009017944336
                    }
                },
                "velocity": {
                    "x": 0.013803667388856411,
                    "y": -8.009621620178223,
                    "z": 0.0018512820824980736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044925689697266,
                "transform": {
                    "location": {
                        "x": 987.0968627929688,
                        "y": 5155.14990234375,
                        "z": 371.6614685058594
                    },
                    "rotation": {
                        "roll": -0.0010681153507903218,
                        "pitch": -0.011870868504047394,
                        "yaw": -89.89583587646484
                    }
                },
                "velocity": {
                    "x": 0.014554939232766628,
                    "y": -8.044912338256836,
                    "z": -0.001929540536366403
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005743164801970124,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0003041831078007817,
                        "pitch": 0.012881736271083355,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -0.00011810351861640811,
                    "y": 1.1509903742989991e-05,
                    "z": 0.0005619239527732134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009042431483976543,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.019008414819836617,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.9843224436044693e-05,
                    "y": 5.111787231726339e-06,
                    "z": 0.0009040109580382705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2035784721374512,
                "transform": {
                    "location": {
                        "x": 983.7442626953125,
                        "y": 5254.06591796875,
                        "z": 371.6117248535156
                    },
                    "rotation": {
                        "roll": -0.0008239764720201492,
                        "pitch": -0.11260931938886642,
                        "yaw": 90.32829284667969
                    }
                },
                "velocity": {
                    "x": -0.005139757879078388,
                    "y": 1.203566312789917,
                    "z": -0.0016154288314282894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4304862022399902,
                "transform": {
                    "location": {
                        "x": 983.7833251953125,
                        "y": 5264.60498046875,
                        "z": 371.5993347167969
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 0.03320837765932083,
                        "yaw": 90.6142807006836
                    }
                },
                "velocity": {
                    "x": -0.015317215584218502,
                    "y": 1.4304027557373047,
                    "z": -0.0020467566791921854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2044791281223297,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            21.064917916259777,
            5.602598998798563
        ],
        "target_point_next": [
            36.717746500950355,
            8.91768168649672
        ]
    },
    "375": {
        "acceleration": [
            0.4283583164215088,
            0.17045259475708008,
            -0.00302543630823493
        ],
        "angular_velocity": [
            -0.1700054109096527,
            0.025882480666041374,
            -10.842672348022461
        ],
        "forward_vector": [
            0.2552320957183838,
            0.9668794274330139,
            0.0008407830027863383
        ],
        "right_vector": [
            -0.9668757319450378,
            0.25523343682289124,
            -0.0026737272273749113
        ],
        "location": [
            985.1810913085938,
            5220.1552734375,
            371.61932373046875
        ],
        "rotation": [
            0.15319353342056274,
            0.04817332327365875,
            75.21265411376953
        ],
        "velocity": [
            0.8255522847175598,
            1.907573938369751,
            -0.0014865589328110218
        ],
        "speed": 2.078551155288189,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.830899715423584,
        "front_vehicle_info": {
            "id": 5684,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                981.52099609375,
                5224.6943359375,
                371.6212463378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.208044052124023,
                "transform": {
                    "location": {
                        "x": 984.0023193359375,
                        "y": 5152.55322265625,
                        "z": 371.62744140625
                    },
                    "rotation": {
                        "roll": -0.0002136191033059731,
                        "pitch": 0.2647927701473236,
                        "yaw": 90.0973129272461
                    }
                },
                "velocity": {
                    "x": -0.009066293016076088,
                    "y": 5.208032608032227,
                    "z": 0.005976142827421427
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045683860778809,
                "transform": {
                    "location": {
                        "x": 987.0094604492188,
                        "y": 5204.990234375,
                        "z": 371.6632385253906
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": 0.019541170448064804,
                        "yaw": -89.90093231201172
                    }
                },
                "velocity": {
                    "x": 0.013961260206997395,
                    "y": -8.045671463012695,
                    "z": 0.002106103813275695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010889053344727,
                "transform": {
                    "location": {
                        "x": 987.1005249023438,
                        "y": 5153.14306640625,
                        "z": 371.660888671875
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.016235359013080597,
                        "yaw": -89.89595794677734
                    }
                },
                "velocity": {
                    "x": 0.014533552341163158,
                    "y": -8.01087474822998,
                    "z": -0.002068872330710292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007811730029061437,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00021362265397328883,
                        "pitch": 0.012772453017532825,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -8.005563722690567e-05,
                    "y": -2.9753031412838027e-05,
                    "z": 0.0007764902547933161
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006583683425560594,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00042219608440063894,
                        "pitch": -0.018885472789406776,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.7813213566550985e-05,
                    "y": -2.261810368509032e-05,
                    "z": 0.0006568922544829547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0685853958129883,
                "transform": {
                    "location": {
                        "x": 983.7424926757812,
                        "y": 5254.47607421875,
                        "z": 371.61151123046875
                    },
                    "rotation": {
                        "roll": -0.00033568718936294317,
                        "pitch": -0.12255407869815826,
                        "yaw": 90.32478332519531
                    }
                },
                "velocity": {
                    "x": -0.008934305980801582,
                    "y": 2.0685648918151855,
                    "z": -0.0022845363710075617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.844793677330017,
                "transform": {
                    "location": {
                        "x": 983.7791137695312,
                        "y": 5264.998046875,
                        "z": 371.5990905761719
                    },
                    "rotation": {
                        "roll": -0.0011291507398709655,
                        "pitch": 0.03052411414682865,
                        "yaw": 90.61583709716797
                    }
                },
                "velocity": {
                    "x": -0.01986469328403473,
                    "y": 1.8446859121322632,
                    "z": -0.0017155456589534879
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00811775028705597,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            20.245421224891764,
            6.727616390481579
        ],
        "target_point_next": [
            35.708209483252766,
            10.838941627564576
        ]
    },
    "380": {
        "acceleration": [
            0.01706719398498535,
            0.14887571334838867,
            0.014351271092891693
        ],
        "angular_velocity": [
            -0.02078256942331791,
            0.22638735175132751,
            -9.430797576904297
        ],
        "forward_vector": [
            0.29743537306785583,
            0.954741895198822,
            0.0003428459167480469
        ],
        "right_vector": [
            -0.9547409415245056,
            0.29743555188179016,
            -0.0013836885336786509
        ],
        "location": [
            985.381591796875,
            5220.6416015625,
            371.6192932128906
        ],
        "rotation": [
            0.07927954941987991,
            0.019643623381853104,
            72.69636535644531
        ],
        "velocity": [
            0.8490781188011169,
            1.9578020572662354,
            -0.0014145087916404009
        ],
        "speed": 2.133992161949698,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.270569801330566,
                "transform": {
                    "location": {
                        "x": 983.9998779296875,
                        "y": 5153.86669921875,
                        "z": 371.6277770996094
                    },
                    "rotation": {
                        "roll": -0.001953123020939529,
                        "pitch": 0.09009019285440445,
                        "yaw": 90.11132049560547
                    }
                },
                "velocity": {
                    "x": -0.012007220648229122,
                    "y": 5.2705559730529785,
                    "z": 0.0016324329189956188
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011087417602539,
                "transform": {
                    "location": {
                        "x": 987.0128784179688,
                        "y": 5202.9833984375,
                        "z": 371.6639099121094
                    },
                    "rotation": {
                        "roll": 0.00015875104872975498,
                        "pitch": 0.019602641463279724,
                        "yaw": -89.90078735351562
                    }
                },
                "velocity": {
                    "x": 0.013920904137194157,
                    "y": -8.011075019836426,
                    "z": 0.0026193330995738506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046101570129395,
                "transform": {
                    "location": {
                        "x": 987.1041259765625,
                        "y": 5151.1357421875,
                        "z": 371.66033935546875
                    },
                    "rotation": {
                        "roll": -0.00070190365659073,
                        "pitch": -0.017546754330396652,
                        "yaw": -89.8960189819336
                    }
                },
                "velocity": {
                    "x": 0.014594750478863716,
                    "y": -8.046088218688965,
                    "z": -0.0024595833383500576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.926681089680642e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0003460771986283362,
                        "pitch": 0.01299784891307354,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 1.3678732102562208e-05,
                    "y": 2.618023063405417e-05,
                    "z": 6.265284173423424e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008047702140174806,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0002486624289304018,
                        "pitch": -0.018981095403432846,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -2.87546354229562e-05,
                    "y": 5.762756245530909e-06,
                    "z": 0.0008042356930673122
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8242099285125732,
                "transform": {
                    "location": {
                        "x": 983.7401123046875,
                        "y": 5254.99658203125,
                        "z": 371.6104736328125
                    },
                    "rotation": {
                        "roll": 0.0010410903487354517,
                        "pitch": -0.03704694285988808,
                        "yaw": 90.30604553222656
                    }
                },
                "velocity": {
                    "x": -0.007800613064318895,
                    "y": 1.8241926431655884,
                    "z": -0.0015210151905193925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4252773523330688,
                "transform": {
                    "location": {
                        "x": 983.774658203125,
                        "y": 5265.4111328125,
                        "z": 371.5986328125
                    },
                    "rotation": {
                        "roll": 0.000575894140638411,
                        "pitch": -0.07580143213272095,
                        "yaw": 90.61597442626953
                    }
                },
                "velocity": {
                    "x": -0.015322839841246605,
                    "y": 1.4251927137374878,
                    "z": -0.0025566290132701397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.24262256920337677,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            19.406576470229577,
            7.656759587904355
        ],
        "target_point_next": [
            34.67395110527541,
            12.442998996995962
        ]
    },
    "385": {
        "acceleration": [
            -0.4574859142303467,
            0.36257266998291016,
            0.01375255361199379
        ],
        "angular_velocity": [
            0.10876861214637756,
            0.40132200717926025,
            -2.248429775238037
        ],
        "forward_vector": [
            0.3216295540332794,
            0.9468655586242676,
            0.00013220308755990118
        ],
        "right_vector": [
            -0.9468653798103333,
            0.3216294050216675,
            0.0006178533076308668
        ],
        "location": [
            985.5813598632812,
            5221.142578125,
            371.6191711425781
        ],
        "rotation": [
            -0.035400390625,
            0.007574679329991341,
            71.23849487304688
        ],
        "velocity": [
            0.7850489020347595,
            2.031979560852051,
            -0.0013574218610301614
        ],
        "speed": 2.1783578021772443,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.963115692138672,
                "transform": {
                    "location": {
                        "x": 983.99755859375,
                        "y": 5155.23095703125,
                        "z": 371.62811279296875
                    },
                    "rotation": {
                        "roll": 0.0024098872672766447,
                        "pitch": 0.11106570065021515,
                        "yaw": 90.14691162109375
                    }
                },
                "velocity": {
                    "x": -0.0077858613803982735,
                    "y": 5.963110446929932,
                    "z": 0.0021871852222830057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044657707214355,
                "transform": {
                    "location": {
                        "x": 987.016357421875,
                        "y": 5200.97607421875,
                        "z": 371.66455078125
                    },
                    "rotation": {
                        "roll": 0.0002583223977126181,
                        "pitch": 0.019991962239146233,
                        "yaw": -89.90096282958984
                    }
                },
                "velocity": {
                    "x": 0.013866295106709003,
                    "y": -8.044646263122559,
                    "z": 0.0018634414300322533
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0353393554688,
                        "y": 5149.0703125,
                        "z": 371.6351013183594
                    },
                    "rotation": {
                        "roll": 8.337633916610798e-10,
                        "pitch": -0.018584944307804108,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00043674136395566165,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00030517528648488224,
                        "pitch": 0.012485585175454617,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 7.490235293516889e-05,
                    "y": 2.0594945453922264e-05,
                    "z": -0.0004297772829886526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005592945381067693,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0008081317646428943,
                        "pitch": -0.018830830231308937,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 7.713428203715011e-05,
                    "y": -6.19852653471753e-06,
                    "z": 0.0005539153935387731
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.09488844871521,
                "transform": {
                    "location": {
                        "x": 983.7380981445312,
                        "y": 5255.4599609375,
                        "z": 371.61029052734375
                    },
                    "rotation": {
                        "roll": 0.000581169908400625,
                        "pitch": -0.04846018925309181,
                        "yaw": 90.29563903808594
                    }
                },
                "velocity": {
                    "x": -0.00918472371995449,
                    "y": 2.094867706298828,
                    "z": -0.0015551948454231024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8315832614898682,
                "transform": {
                    "location": {
                        "x": 983.7705078125,
                        "y": 5265.79248046875,
                        "z": 371.5984802246094
                    },
                    "rotation": {
                        "roll": 1.66162117238855e-05,
                        "pitch": 0.000150264153489843,
                        "yaw": 90.61894989013672
                    }
                },
                "velocity": {
                    "x": -0.01962646283209324,
                    "y": 1.8314766883850098,
                    "z": -0.002214937238022685
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.426267147064209,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            18.666884443924456,
            8.1760432993022
        ],
        "target_point_next": [
            33.80754675658143,
            13.34916234510727
        ]
    },
    "390": {
        "acceleration": [
            -0.19338488578796387,
            0.3254985809326172,
            -0.003016472328454256
        ],
        "angular_velocity": [
            -0.03598626330494881,
            -0.13570797443389893,
            0.6775376796722412
        ],
        "forward_vector": [
            0.3214053809642792,
            0.9469416737556458,
            4.279613131075166e-05
        ],
        "right_vector": [
            -0.9469394087791443,
            0.32140451669692993,
            0.0022077583707869053
        ],
        "location": [
            985.7587280273438,
            5221.66259765625,
            371.6190185546875
        ],
        "rotation": [
            -0.1264953464269638,
            0.002452037762850523,
            71.25205993652344
        ],
        "velocity": [
            0.6751123666763306,
            2.118523120880127,
            -0.0015461444854736328
        ],
        "speed": 2.2234920556059987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.454307556152344,
                "transform": {
                    "location": {
                        "x": 983.9947509765625,
                        "y": 5156.8818359375,
                        "z": 371.62847900390625
                    },
                    "rotation": {
                        "roll": -0.0031738351099193096,
                        "pitch": 0.10437894612550735,
                        "yaw": 90.13642883300781
                    }
                },
                "velocity": {
                    "x": -0.0158588495105505,
                    "y": 6.454288005828857,
                    "z": 0.002039461163803935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009320259094238,
                "transform": {
                    "location": {
                        "x": 987.0198364257812,
                        "y": 5198.9697265625,
                        "z": 371.66522216796875
                    },
                    "rotation": {
                        "roll": -0.0003051749081350863,
                        "pitch": 0.019233811646699905,
                        "yaw": -89.90087127685547
                    }
                },
                "velocity": {
                    "x": 0.013860831968486309,
                    "y": -8.009307861328125,
                    "z": 0.002310466719791293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0186767578125,
                        "y": 5146.98779296875,
                        "z": 371.6274108886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.026727689662948e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00033569353399798274,
                        "pitch": 0.01284075528383255,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 5.4351210565073416e-05,
                    "y": 1.2558428352349438e-05,
                    "z": -4.272847218089737e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013514339225366712,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0003698807558976114,
                        "pitch": -0.018946943804621696,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.16491337394109e-05,
                    "y": 3.831152298516827e-06,
                    "z": 0.0013513782760128379
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8278883695602417,
                "transform": {
                    "location": {
                        "x": 983.7357788085938,
                        "y": 5255.98193359375,
                        "z": 371.6097717285156
                    },
                    "rotation": {
                        "roll": -6.103481427999213e-05,
                        "pitch": -0.024165207520127296,
                        "yaw": 90.28346252441406
                    }
                },
                "velocity": {
                    "x": -0.007701581344008446,
                    "y": 1.827871322631836,
                    "z": -0.0017271613469347358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.012799733318388462,
                "transform": {
                    "location": {
                        "x": 983.7661743164062,
                        "y": 5266.18505859375,
                        "z": 371.5978698730469
                    },
                    "rotation": {
                        "roll": -0.0024413883220404387,
                        "pitch": -0.24673373997211456,
                        "yaw": 90.75211334228516
                    }
                },
                "velocity": {
                    "x": 4.5581607992062345e-05,
                    "y": 0.012792110443115234,
                    "z": -0.0004393174313008785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5493667721748352,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            18.11938238699846,
            8.172448269157044
        ],
        "target_point_next": [
            33.261267776929046,
            13.341986233635986
        ]
    },
    "395": {
        "acceleration": [
            0.017573833465576172,
            0.45864105224609375,
            0.01481170579791069
        ],
        "angular_velocity": [
            -0.025775233283638954,
            -0.2782530188560486,
            5.751278400421143
        ],
        "forward_vector": [
            0.3049301505088806,
            0.9523746967315674,
            0.0001366138458251953
        ],
        "right_vector": [
            -0.9523711204528809,
            0.30492860078811646,
            0.0027883260045200586
        ],
        "location": [
            985.9150390625,
            5222.205078125,
            371.6187744140625
        ],
        "rotation": [
            -0.159759521484375,
            0.007827396504580975,
            72.24604034423828
        ],
        "velocity": [
            0.5772842168807983,
            2.229221820831299,
            -0.0015541076427325606
        ],
        "speed": 2.3027563904004453,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.476096153259277,
                "transform": {
                    "location": {
                        "x": 983.991943359375,
                        "y": 5158.34814453125,
                        "z": 371.6285400390625
                    },
                    "rotation": {
                        "roll": -6.104534986661747e-05,
                        "pitch": -0.23922736942768097,
                        "yaw": 90.08611297607422
                    }
                },
                "velocity": {
                    "x": -0.008464286103844643,
                    "y": 4.476085186004639,
                    "z": -0.004841470625251532
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04696273803711,
                "transform": {
                    "location": {
                        "x": 987.0232543945312,
                        "y": 5196.96240234375,
                        "z": 371.6658935546875
                    },
                    "rotation": {
                        "roll": 0.00023114171926863492,
                        "pitch": 0.019978301599621773,
                        "yaw": -89.90096282958984
                    }
                },
                "velocity": {
                    "x": 0.013918251730501652,
                    "y": -8.046950340270996,
                    "z": 0.0021241663489490747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0186767578125,
                        "y": 5144.90478515625,
                        "z": 371.6253356933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.023987622931599617,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.451039447099902e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 2.040218714682851e-05,
                        "pitch": 0.01273830235004425,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -2.92555705527775e-05,
                    "y": 1.8300437659490854e-05,
                    "z": 4.156283353040635e-07
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002322804502910003,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0001955250045284629,
                        "pitch": -0.019165510311722755,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.1665549613535404e-05,
                    "y": 6.8662870944535825e-06,
                    "z": 0.00023000946384854615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016946468967944384,
                "transform": {
                    "location": {
                        "x": 983.7349243164062,
                        "y": 5256.11865234375,
                        "z": 371.60858154296875
                    },
                    "rotation": {
                        "roll": -6.103160194470547e-05,
                        "pitch": 0.1177661120891571,
                        "yaw": 90.24748992919922
                    }
                },
                "velocity": {
                    "x": 0.00010957692575175315,
                    "y": -0.00083311484195292,
                    "z": -0.0014716455480083823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.093181848526001,
                "transform": {
                    "location": {
                        "x": 983.7645263671875,
                        "y": 5266.3427734375,
                        "z": 371.5980529785156
                    },
                    "rotation": {
                        "roll": -0.00018310610903427005,
                        "pitch": -0.027648603543639183,
                        "yaw": 90.73268127441406
                    }
                },
                "velocity": {
                    "x": -0.011051403358578682,
                    "y": 1.0931220054626465,
                    "z": -0.002929153386503458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.653124213218689,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            17.69412181779293,
            7.840333527658742
        ],
        "target_point_next": [
            32.923409172200145,
            12.746413694642836
        ]
    },
    "400": {
        "acceleration": [
            -0.003789663314819336,
            1.1928272247314453,
            0.012792586348950863
        ],
        "angular_velocity": [
            0.18563339114189148,
            -0.08521965146064758,
            4.442322254180908
        ],
        "forward_vector": [
            0.28472933173179626,
            0.95860755443573,
            0.000820279004983604
        ],
        "right_vector": [
            -0.958606481552124,
            0.2847273051738739,
            0.0019888461101800203
        ],
        "location": [
            986.0656127929688,
            5222.7880859375,
            371.6183776855469
        ],
        "rotation": [
            -0.11395261436700821,
            0.046998530626297,
            73.45732879638672
        ],
        "velocity": [
            0.5856012105941772,
            2.4593262672424316,
            -0.0011453914921730757
        ],
        "speed": 2.528085138320693,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4224560260772705,
                "transform": {
                    "location": {
                        "x": 983.9906005859375,
                        "y": 5158.966796875,
                        "z": 371.62841796875
                    },
                    "rotation": {
                        "roll": 0.0007206664304248989,
                        "pitch": -0.3672797381877899,
                        "yaw": 90.08137512207031
                    }
                },
                "velocity": {
                    "x": -0.0044380659237504005,
                    "y": 2.4224517345428467,
                    "z": 0.0014103698777034879
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008340835571289,
                "transform": {
                    "location": {
                        "x": 987.0267944335938,
                        "y": 5194.95556640625,
                        "z": 371.6665954589844
                    },
                    "rotation": {
                        "roll": 0.00047266713227145374,
                        "pitch": 0.018981095403432846,
                        "yaw": -89.9009017944336
                    }
                },
                "velocity": {
                    "x": 0.013899007812142372,
                    "y": -8.008328437805176,
                    "z": 0.002323369961231947
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5721,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0199584960938,
                        "y": 5142.8212890625,
                        "z": 371.6236572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.029383473098278046,
                        "yaw": -89.89765930175781
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.909110667649657e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00014049203309696168,
                        "pitch": 0.012861245311796665,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 4.151938355789753e-06,
                    "y": -1.0388913324277382e-05,
                    "z": 9.845750173553824e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021216108871158212,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0006814981461502612,
                        "pitch": -0.019199660047888756,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.2914277249365114e-05,
                    "y": 3.002694484166568e-06,
                    "z": 0.00021174638823140413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13591359555721283,
                "transform": {
                    "location": {
                        "x": 983.7349243164062,
                        "y": 5256.12353515625,
                        "z": 371.6096496582031
                    },
                    "rotation": {
                        "roll": 0.00043373453081585467,
                        "pitch": -0.021699510514736176,
                        "yaw": 90.24703216552734
                    }
                },
                "velocity": {
                    "x": -0.000649689172860235,
                    "y": 0.13590370118618011,
                    "z": -0.001505355816334486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1340739727020264,
                "transform": {
                    "location": {
                        "x": 983.759765625,
                        "y": 5266.751953125,
                        "z": 371.5978698730469
                    },
                    "rotation": {
                        "roll": -0.0012207009131088853,
                        "pitch": 0.08828019350767136,
                        "yaw": 90.75800323486328
                    }
                },
                "velocity": {
                    "x": -0.02535761334002018,
                    "y": 2.133923053741455,
                    "z": -0.0014287185622379184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7660884261131287,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            17.254157909962373,
            7.44288313782088
        ],
        "target_point_next": [
            32.583752949608005,
            12.025931451820462
        ]
    },
    "405": {
        "acceleration": [
            0.08262991905212402,
            1.722550392150879,
            0.002211953978985548
        ],
        "angular_velocity": [
            0.2515983581542969,
            -0.005099442787468433,
            6.745452404022217
        ],
        "forward_vector": [
            0.2608344852924347,
            0.9653816819190979,
            0.0019048439571633935
        ],
        "right_vector": [
            -0.9653823375701904,
            0.2608305811882019,
            0.0020788584370166063
        ],
        "location": [
            986.2197265625,
            5223.44970703125,
            371.6180114746094
        ],
        "rotation": [
            -0.1191101148724556,
            0.109139584004879,
            74.88038635253906
        ],
        "velocity": [
            0.6062277555465698,
            2.8483128547668457,
            -0.0017806719988584518
        ],
        "speed": 2.912112327885909,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6218833923339844,
                "transform": {
                    "location": {
                        "x": 983.9893798828125,
                        "y": 5159.73193359375,
                        "z": 371.62884521484375
                    },
                    "rotation": {
                        "roll": 0.001089771161787212,
                        "pitch": 0.1231892853975296,
                        "yaw": 90.08753204345703
                    }
                },
                "velocity": {
                    "x": -0.006192914675921202,
                    "y": 3.621877908706665,
                    "z": 0.0012249851133674383
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047198295593262,
                "transform": {
                    "location": {
                        "x": 987.0302124023438,
                        "y": 5192.94873046875,
                        "z": 371.66705322265625
                    },
                    "rotation": {
                        "roll": -0.0005798349156975746,
                        "pitch": 0.015149358659982681,
                        "yaw": -89.90105438232422
                    }
                },
                "velocity": {
                    "x": 0.01386387087404728,
                    "y": -8.047185897827148,
                    "z": 0.0015532588586211205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007140832603909075,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.000343954045092687,
                        "pitch": 0.012601698748767376,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.2749780580634251e-05,
                    "y": 3.548746099113487e-05,
                    "z": 0.0007130869198590517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008405069820582867,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0003269944863859564,
                        "pitch": -0.018912792205810547,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.3793035122944275e-06,
                    "y": 6.085312634240836e-06,
                    "z": 0.0008404838154092431
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9801445603370667,
                "transform": {
                    "location": {
                        "x": 983.7340698242188,
                        "y": 5256.26123046875,
                        "z": 371.6102294921875
                    },
                    "rotation": {
                        "roll": 0.0006671785959042609,
                        "pitch": -0.10769158601760864,
                        "yaw": 90.20970153808594
                    }
                },
                "velocity": {
                    "x": -0.007049467880278826,
                    "y": 0.9801185131072998,
                    "z": -0.0011806392576545477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.028846025466919,
                "transform": {
                    "location": {
                        "x": 983.7518310546875,
                        "y": 5267.41552734375,
                        "z": 371.5973815917969
                    },
                    "rotation": {
                        "roll": -0.00015258895291481167,
                        "pitch": 0.10476143658161163,
                        "yaw": 90.75222778320312
                    }
                },
                "velocity": {
                    "x": -0.03541998565196991,
                    "y": 3.0286381244659424,
                    "z": -0.0022139931097626686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8636696338653564,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            16.75476172090428,
            6.988290905426487
        ],
        "target_point_next": [
            32.193447311099575,
            11.189219752131539
        ]
    },
    "410": {
        "acceleration": [
            0.2316594123840332,
            2.0598506927490234,
            0.0027250288985669613
        ],
        "angular_velocity": [
            0.17336149513721466,
            -0.09286672621965408,
            5.165351390838623
        ],
        "forward_vector": [
            0.23562538623809814,
            0.9718397259712219,
            0.0028587537817656994
        ],
        "right_vector": [
            -0.9718432426452637,
            0.23562055826187134,
            0.001930783037096262
        ],
        "location": [
            986.3821411132812,
            5224.22265625,
            371.6174621582031
        ],
        "rotation": [
            -0.11062624305486679,
            0.16379475593566895,
            76.37145233154297
        ],
        "velocity": [
            0.6540840864181519,
            3.3351402282714844,
            -0.0018330669263377786
        ],
        "speed": 3.398674202441334,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.0020735263824463,
                "transform": {
                    "location": {
                        "x": 983.9878540039062,
                        "y": 5160.5810546875,
                        "z": 371.6290283203125
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": -0.03814660385251045,
                        "yaw": 90.09320068359375
                    }
                },
                "velocity": {
                    "x": -0.005217066965997219,
                    "y": 3.002068519592285,
                    "z": 0.0017383098602294922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0095796585083,
                "transform": {
                    "location": {
                        "x": 987.0337524414062,
                        "y": 5190.94189453125,
                        "z": 371.6675720214844
                    },
                    "rotation": {
                        "roll": 0.00025031156837940216,
                        "pitch": 0.010716565884649754,
                        "yaw": -89.90096282958984
                    }
                },
                "velocity": {
                    "x": 0.013838603161275387,
                    "y": -8.009567260742188,
                    "z": 0.0021254539024084806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004729014472104609,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 3.38766367349308e-05,
                        "pitch": 0.01271098107099533,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.692972091404954e-06,
                    "y": 2.035317038462381e-06,
                    "z": 0.00047289402573369443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004589701711665839,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00045819467050023377,
                        "pitch": -0.019042566418647766,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -5.889570093131624e-05,
                    "y": -1.466078629164258e-05,
                    "z": 0.00045493952347896993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7882988452911377,
                "transform": {
                    "location": {
                        "x": 983.7322998046875,
                        "y": 5256.61181640625,
                        "z": 371.610107421875
                    },
                    "rotation": {
                        "roll": 0.0002730747510213405,
                        "pitch": -0.12026596069335938,
                        "yaw": 90.18122100830078
                    }
                },
                "velocity": {
                    "x": -0.00752212991937995,
                    "y": 1.7882821559906006,
                    "z": -0.0017523765563964844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.601642608642578,
                "transform": {
                    "location": {
                        "x": 983.7439575195312,
                        "y": 5268.1044921875,
                        "z": 371.5967102050781
                    },
                    "rotation": {
                        "roll": -0.0005798342754133046,
                        "pitch": -0.05227826535701752,
                        "yaw": 90.70484924316406
                    }
                },
                "velocity": {
                    "x": -0.029472654685378075,
                    "y": 2.6014747619628906,
                    "z": -0.0020542717538774014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9663264155387878,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            16.141476895777615,
            6.525660948020333
        ],
        "target_point_next": [
            31.68424789159076,
            10.323434730078976
        ]
    },
    "415": {
        "acceleration": [
            -0.2620530128479004,
            0.6561183929443359,
            0.0062812818214297295
        ],
        "angular_velocity": [
            -0.3107686936855316,
            0.16582396626472473,
            6.428654670715332
        ],
        "forward_vector": [
            0.21074025332927704,
            0.9775384664535522,
            0.0026552644558250904
        ],
        "right_vector": [
            -0.9775408506393433,
            0.21073490381240845,
            0.002160346368327737
        ],
        "location": [
            986.5511474609375,
            5225.1083984375,
            371.61712646484375
        ],
        "rotation": [
            -0.12377926707267761,
            0.15213562548160553,
            77.83422088623047
        ],
        "velocity": [
            0.6366515755653381,
            3.673753023147583,
            -0.0017792510334402323
        ],
        "speed": 3.7285099575776695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0160841941833496,
                "transform": {
                    "location": {
                        "x": 983.9867553710938,
                        "y": 5161.20068359375,
                        "z": 371.6291198730469
                    },
                    "rotation": {
                        "roll": 4.230864578858018e-05,
                        "pitch": -0.15893849730491638,
                        "yaw": 90.09464263916016
                    }
                },
                "velocity": {
                    "x": -0.0035707796923816204,
                    "y": 2.016080379486084,
                    "z": 0.0015060137957334518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045701026916504,
                "transform": {
                    "location": {
                        "x": 987.0372314453125,
                        "y": 5188.93505859375,
                        "z": 371.6678771972656
                    },
                    "rotation": {
                        "roll": -0.0003356930974405259,
                        "pitch": 0.009671547450125217,
                        "yaw": -89.89810180664062
                    }
                },
                "velocity": {
                    "x": 0.014410214498639107,
                    "y": -8.045687675476074,
                    "z": 0.0017279052408412099
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006916112033650279,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 8.671930117998272e-05,
                        "pitch": 0.012690491043031216,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 1.8175685909227468e-05,
                    "y": 4.392957271193154e-05,
                    "z": 0.0006899752770550549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007555261836387217,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00019341475854162127,
                        "pitch": -0.019008414819836617,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 1.0351410310249776e-05,
                    "y": -3.860028664348647e-05,
                    "z": 0.0007544684922322631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9218744039535522,
                "transform": {
                    "location": {
                        "x": 983.7303466796875,
                        "y": 5257.1201171875,
                        "z": 371.60931396484375
                    },
                    "rotation": {
                        "roll": -0.0003967281663790345,
                        "pitch": -0.06426524370908737,
                        "yaw": 90.19144439697266
                    }
                },
                "velocity": {
                    "x": -0.007547994144260883,
                    "y": 1.9218591451644897,
                    "z": -0.0013741874136030674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.641162395477295,
                "transform": {
                    "location": {
                        "x": 983.7365112304688,
                        "y": 5268.85791015625,
                        "z": 371.5962829589844
                    },
                    "rotation": {
                        "roll": 0.004695748910307884,
                        "pitch": 0.07528916746377945,
                        "yaw": 90.63705444335938
                    }
                },
                "velocity": {
                    "x": -0.029483424499630928,
                    "y": 3.641042470932007,
                    "z": -0.0021493053063750267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.000363826751709,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            15.401334209355952,
            6.090031039827888
        ],
        "target_point_next": [
            31.035988022274925,
            9.489798102166219
        ]
    },
    "420": {
        "acceleration": [
            -0.8397716283798218,
            0.4759407043457031,
            0.008196068927645683
        ],
        "angular_velocity": [
            -0.17852801084518433,
            0.47912126779556274,
            7.740550518035889
        ],
        "forward_vector": [
            0.18206225335597992,
            0.9832862615585327,
            0.0011790987337008119
        ],
        "right_vector": [
            -0.9832823276519775,
            0.18205754458904266,
            0.0033129637595266104
        ],
        "location": [
            986.7005004882812,
            5226.0400390625,
            371.61712646484375
        ],
        "rotation": [
            -0.1898193210363388,
            0.06755739450454712,
            79.51008605957031
        ],
        "velocity": [
            0.4940233528614044,
            3.7868716716766357,
            -0.0017760276095941663
        ],
        "speed": 3.8189600850125967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5068721771240234,
                "transform": {
                    "location": {
                        "x": 983.9862060546875,
                        "y": 5161.505859375,
                        "z": 371.62921142578125
                    },
                    "rotation": {
                        "roll": 0.001188423833809793,
                        "pitch": -0.0772152841091156,
                        "yaw": 90.1376953125
                    }
                },
                "velocity": {
                    "x": -0.002676933305338025,
                    "y": 1.5068691968917847,
                    "z": 0.0013731193030253053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01106071472168,
                "transform": {
                    "location": {
                        "x": 987.0408325195312,
                        "y": 5186.927734375,
                        "z": 371.66796875
                    },
                    "rotation": {
                        "roll": 0.0004104731197003275,
                        "pitch": -0.0031760376878082752,
                        "yaw": -89.89583587646484
                    }
                },
                "velocity": {
                    "x": 0.013135732151567936,
                    "y": -8.0110502243042,
                    "z": 0.0007263278821483254
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012005949974991381,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0008060252293944359,
                        "pitch": 0.013189094141125679,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 2.1886666218051687e-05,
                    "y": -2.8421902243280783e-05,
                    "z": 0.00011457509390311316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005042307893745601,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00037825340405106544,
                        "pitch": -0.019008414819836617,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -2.5251451006624848e-05,
                    "y": 1.6094729289761744e-05,
                    "z": 0.0005033408524468541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8758342266082764,
                "transform": {
                    "location": {
                        "x": 983.7286376953125,
                        "y": 5257.5615234375,
                        "z": 371.6087951660156
                    },
                    "rotation": {
                        "roll": -0.0002136218681698665,
                        "pitch": -0.03277807682752609,
                        "yaw": 90.20164489746094
                    }
                },
                "velocity": {
                    "x": -0.007751663215458393,
                    "y": 1.8758171796798706,
                    "z": -0.0019326210021972656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.0446367263793945,
                "transform": {
                    "location": {
                        "x": 983.7288818359375,
                        "y": 5269.875,
                        "z": 371.5955505371094
                    },
                    "rotation": {
                        "roll": 0.003233756637200713,
                        "pitch": 0.03901403769850731,
                        "yaw": 90.51620483398438
                    }
                },
                "velocity": {
                    "x": -0.02934555523097515,
                    "y": 4.044529914855957,
                    "z": -0.0017228698125109076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9989647269248962,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            14.629585371460701,
            5.614261462244692
        ],
        "target_point_next": [
            30.356976675759267,
            8.555346073311867
        ]
    },
    "425": {
        "acceleration": [
            -0.9998828172683716,
            0.41497230529785156,
            0.005156900733709335
        ],
        "angular_velocity": [
            -0.04903624206781387,
            0.22726938128471375,
            12.404411315917969
        ],
        "forward_vector": [
            0.13628406822681427,
            0.9906696677207947,
            0.0004984139814041555
        ],
        "right_vector": [
            -0.9906548261642456,
            0.13627924025058746,
            0.00555266160517931
        ],
        "location": [
            986.7974853515625,
            5226.99951171875,
            371.6168518066406
        ],
        "rotation": [
            -0.3181457221508026,
            0.02855701930820942,
            82.16712188720703
        ],
        "velocity": [
            0.23150938749313354,
            3.899595260620117,
            -0.0017448996659368277
        ],
        "speed": 3.9064612878087406,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0029635429382324,
                "transform": {
                    "location": {
                        "x": 983.9852905273438,
                        "y": 5161.986328125,
                        "z": 371.62933349609375
                    },
                    "rotation": {
                        "roll": -0.00030517432605847716,
                        "pitch": 0.07889550924301147,
                        "yaw": 90.02769470214844
                    }
                },
                "velocity": {
                    "x": -0.005902621429413557,
                    "y": 2.0029540061950684,
                    "z": 0.0018671321449801326
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045411109924316,
                "transform": {
                    "location": {
                        "x": 987.04443359375,
                        "y": 5184.92041015625,
                        "z": 371.6678771972656
                    },
                    "rotation": {
                        "roll": 6.752690387656912e-05,
                        "pitch": -0.005313886795192957,
                        "yaw": -89.897216796875
                    }
                },
                "velocity": {
                    "x": 0.014444044791162014,
                    "y": -8.045397758483887,
                    "z": -0.002078742953017354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022580896620638669,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 5.484244684339501e-05,
                        "pitch": 0.01299784891307354,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 7.495174213545397e-05,
                    "y": -3.170708441757597e-05,
                    "z": 0.00021063377789687365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015209107368718833,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00043201446533203125,
                        "pitch": -0.019042566418647766,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -2.2259071101871086e-06,
                    "y": 1.7727165868564043e-06,
                    "z": 0.00015206445823423564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.942850112915039,
                "transform": {
                    "location": {
                        "x": 983.7266235351562,
                        "y": 5258.07861328125,
                        "z": 371.6085205078125
                    },
                    "rotation": {
                        "roll": -0.0007324195466935635,
                        "pitch": -0.045045096427202225,
                        "yaw": 90.20343780517578
                    }
                },
                "velocity": {
                    "x": -0.006746869999915361,
                    "y": 1.9428379535675049,
                    "z": -0.0013938045594841242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4888060092926025,
                "transform": {
                    "location": {
                        "x": 983.7225341796875,
                        "y": 5270.8037109375,
                        "z": 371.5947265625
                    },
                    "rotation": {
                        "roll": -9.155399311566725e-05,
                        "pitch": -0.09045218676328659,
                        "yaw": 90.44647979736328
                    }
                },
                "velocity": {
                    "x": -0.023273708298802376,
                    "y": 3.488727569580078,
                    "z": -0.0025847340002655983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9985582232475281,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            13.910383324623904,
            4.895351156799401
        ],
        "target_point_next": [
            29.757208091953387,
            7.104188118083582
        ]
    },
    "430": {
        "acceleration": [
            -1.3791053295135498,
            0.771484375,
            -0.0029619247652590275
        ],
        "angular_velocity": [
            0.10308543592691422,
            0.3595837652683258,
            15.277342796325684
        ],
        "forward_vector": [
            0.07619458436965942,
            0.9970928430557251,
            0.0004955530166625977
        ],
        "right_vector": [
            -0.9970669746398926,
            0.07618900388479233,
            0.007260244805365801
        ],
        "location": [
            986.827880859375,
            5227.99169921875,
            371.6164245605469
        ],
        "rotation": [
            -0.415985107421875,
            0.0283930953592062,
            85.63013458251953
        ],
        "velocity": [
            -0.08251664787530899,
            4.057372570037842,
            -0.0020094490610063076
        ],
        "speed": 4.058211572758628,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.542656421661377,
                "transform": {
                    "location": {
                        "x": 983.9845581054688,
                        "y": 5162.189453125,
                        "z": 371.62933349609375
                    },
                    "rotation": {
                        "roll": 0.002721264958381653,
                        "pitch": -0.1906169056892395,
                        "yaw": 89.94113159179688
                    }
                },
                "velocity": {
                    "x": -0.00040288554737344384,
                    "y": 0.5426533222198486,
                    "z": 0.0017876720521599054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010326385498047,
                "transform": {
                    "location": {
                        "x": 987.0481567382812,
                        "y": 5182.9140625,
                        "z": 371.6675720214844
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.008086943998932838,
                        "yaw": -89.89388275146484
                    }
                },
                "velocity": {
                    "x": 0.014735530130565166,
                    "y": -8.0103120803833,
                    "z": -0.0021718309726566076
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027486946783028543,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0004287252377253026,
                        "pitch": 0.01283392496407032,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -3.8297537685139105e-05,
                    "y": 4.524062205746304e-06,
                    "z": 0.00027215079171583056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000829634431283921,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0003097564331255853,
                        "pitch": -0.019008414819836617,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 9.165690244117286e-06,
                    "y": 6.569835477421293e-06,
                    "z": 0.000829557771794498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8770015239715576,
                "transform": {
                    "location": {
                        "x": 983.7249145507812,
                        "y": 5258.5234375,
                        "z": 371.6081237792969
                    },
                    "rotation": {
                        "roll": 8.342637011082843e-05,
                        "pitch": -0.03076316975057125,
                        "yaw": 90.21100616455078
                    }
                },
                "velocity": {
                    "x": -0.00744063314050436,
                    "y": 1.8769859075546265,
                    "z": -0.001794414478354156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.234964370727539,
                "transform": {
                    "location": {
                        "x": 983.7164916992188,
                        "y": 5271.75537109375,
                        "z": 371.5941467285156
                    },
                    "rotation": {
                        "roll": 0.0007844030042178929,
                        "pitch": 0.03320837765932083,
                        "yaw": 90.40336608886719
                    }
                },
                "velocity": {
                    "x": -0.02665424719452858,
                    "y": 4.234879970550537,
                    "z": -0.002082767430692911
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.998883068561554,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            13.18905888273,
            4.000890268633448
        ],
        "target_point_next": [
            29.1403689074688,
            5.248497748031426
        ]
    },
    "435": {
        "acceleration": [
            -1.2831318378448486,
            0.4354381561279297,
            -0.01707000471651554
        ],
        "angular_velocity": [
            -0.018779408186674118,
            0.03743116185069084,
            17.225269317626953
        ],
        "forward_vector": [
            0.003941361792385578,
            0.9999920725822449,
            0.0006244181422516704
        ],
        "right_vector": [
            -0.9999589920043945,
            0.0039361389353871346,
            0.008155571296811104
        ],
        "location": [
            986.7787475585938,
            5229.02587890625,
            371.6159973144531
        ],
        "rotation": [
            -0.4672851264476776,
            0.0357765294611454,
            89.77417755126953
        ],
        "velocity": [
            -0.41093710064888,
            4.203407287597656,
            -0.002204046119004488
        ],
        "speed": 4.223446711646637,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.2953025698661804,
                "transform": {
                    "location": {
                        "x": 983.9842529296875,
                        "y": 5162.4169921875,
                        "z": 371.62945556640625
                    },
                    "rotation": {
                        "roll": 0.0007487352704629302,
                        "pitch": -0.01178207527846098,
                        "yaw": 89.96792602539062
                    }
                },
                "velocity": {
                    "x": -0.00031855463748797774,
                    "y": 0.2953002452850342,
                    "z": 0.001129150390625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045917510986328,
                "transform": {
                    "location": {
                        "x": 987.0516967773438,
                        "y": 5180.90673828125,
                        "z": 371.66717529296875
                    },
                    "rotation": {
                        "roll": 0.00025553509476594627,
                        "pitch": -0.012178226374089718,
                        "yaw": -89.90081024169922
                    }
                },
                "velocity": {
                    "x": 0.013916395604610443,
                    "y": -8.045905113220215,
                    "z": -0.002239484805613756
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012774007336702198,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.012437773868441582,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -3.125330476905219e-05,
                    "y": 3.935041604563594e-05,
                    "z": 0.00011744062067009509
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00029361865017563105,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00025259610265493393,
                        "pitch": -0.019042566418647766,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -8.941670785134193e-06,
                    "y": 7.006749456195394e-06,
                    "z": 0.00029339882894419134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9477003812789917,
                "transform": {
                    "location": {
                        "x": 983.7232666015625,
                        "y": 5259.041015625,
                        "z": 371.60784912109375
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.04601498320698738,
                        "yaw": 90.2012939453125
                    }
                },
                "velocity": {
                    "x": -0.005561591126024723,
                    "y": 1.9476919174194336,
                    "z": -0.0014052009209990501
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8207380771636963,
                "transform": {
                    "location": {
                        "x": 983.7101440429688,
                        "y": 5272.78857421875,
                        "z": 371.59326171875
                    },
                    "rotation": {
                        "roll": 4.518000059761107e-05,
                        "pitch": -0.0716555118560791,
                        "yaw": 90.37187194824219
                    }
                },
                "velocity": {
                    "x": -0.023199263960123062,
                    "y": 3.820667028427124,
                    "z": -0.00193755142390728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999515175819397,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            12.409735631333065,
            2.984056820479092
        ],
        "target_point_next": [
            28.409499203062698,
            3.075607772062571
        ]
    },
    "440": {
        "acceleration": [
            -1.2364304065704346,
            0.5206108093261719,
            -0.012012864463031292
        ],
        "angular_velocity": [
            0.0017750370316207409,
            -0.010568073019385338,
            17.006145477294922
        ],
        "forward_vector": [
            -0.0710756927728653,
            0.9974707365036011,
            0.0005742310313507915
        ],
        "right_vector": [
            -0.9974353909492493,
            -0.07107800990343094,
            0.008390985429286957
        ],
        "location": [
            986.6486206054688,
            5230.091796875,
            371.61553955078125
        ],
        "rotation": [
            -0.48077383637428284,
            0.03290101885795593,
            94.07577514648438
        ],
        "velocity": [
            -0.7410640716552734,
            4.3190765380859375,
            -0.002270269440487027
        ],
        "speed": 4.382191015935145,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3262293338775635,
                "transform": {
                    "location": {
                        "x": 983.9837036132812,
                        "y": 5162.6044921875,
                        "z": 371.6295471191406
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": 0.11879747360944748,
                        "yaw": 89.98651123046875
                    }
                },
                "velocity": {
                    "x": -0.0029197370167821646,
                    "y": 1.3262250423431396,
                    "z": 0.0016848468221724033
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010600090026855,
                "transform": {
                    "location": {
                        "x": 987.0551147460938,
                        "y": 5178.89990234375,
                        "z": 371.6667785644531
                    },
                    "rotation": {
                        "roll": -0.0005798343918286264,
                        "pitch": -0.0129090566188097,
                        "yaw": -89.90135955810547
                    }
                },
                "velocity": {
                    "x": 0.01383600477129221,
                    "y": -8.010587692260742,
                    "z": -0.0015111732063814998
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005537300021387637,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00018310525047127157,
                        "pitch": 0.01264951005578041,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -0.00014464050764217973,
                    "y": -6.89879527726589e-07,
                    "z": 0.00053450494306162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007611894397996366,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0006966192740947008,
                        "pitch": -0.019165510311722755,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 4.288116542738862e-05,
                    "y": -1.968914148164913e-05,
                    "z": 0.0007597255753353238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8861536979675293,
                "transform": {
                    "location": {
                        "x": 983.7218017578125,
                        "y": 5259.48779296875,
                        "z": 371.6074523925781
                    },
                    "rotation": {
                        "roll": -9.155223233392462e-05,
                        "pitch": -0.032163359224796295,
                        "yaw": 90.19405364990234
                    }
                },
                "velocity": {
                    "x": -0.005839463323354721,
                    "y": 1.8861438035964966,
                    "z": -0.0018332194304093719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6430163383483887,
                "transform": {
                    "location": {
                        "x": 983.701171875,
                        "y": 5273.732421875,
                        "z": 371.5924987792969
                    },
                    "rotation": {
                        "roll": -0.031097402796149254,
                        "pitch": -0.07330158352851868,
                        "yaw": 90.51087188720703
                    }
                },
                "velocity": {
                    "x": -0.10249333083629608,
                    "y": 3.641573667526245,
                    "z": -0.0019601343665271997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0007305145263672,
        "expert_target_speed": 11.11111111111111,
        "target_point": [
            11.526123298294443,
            1.990848704945911
        ],
        "target_point_next": [
            27.487687082898237,
            0.8821118209166365
        ]
    },
    "445": {
        "acceleration": [
            -0.7559621334075928,
            0.5606555938720703,
            -0.006369017064571381
        ],
        "angular_velocity": [
            0.05744156613945961,
            -0.3289065957069397,
            13.368538856506348
        ],
        "forward_vector": [
            -0.1363276094198227,
            0.9906635880470276,
            0.0007069110288284719
        ],
        "right_vector": [
            -0.9906415343284607,
            -0.1363292932510376,
            0.006607252173125744
        ],
        "location": [
            986.4498291015625,
            5231.19091796875,
            371.6150817871094
        ],
        "rotation": [
            -0.3785704970359802,
            0.04050302132964134,
            97.83539581298828
        ],
        "velocity": [
            -0.9531694650650024,
            4.458852291107178,
            -0.0017385863466188312
        ],
        "speed": 4.5595938177697395,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.24857459962368011,
                "transform": {
                    "location": {
                        "x": 983.9833984375,
                        "y": 5162.79248046875,
                        "z": 371.6295166015625
                    },
                    "rotation": {
                        "roll": 0.002692589070647955,
                        "pitch": -0.015285962261259556,
                        "yaw": 89.86660766601562
                    }
                },
                "velocity": {
                    "x": -0.0008481743861921132,
                    "y": 0.24857105314731598,
                    "z": 0.0010222148848697543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046032905578613,
                "transform": {
                    "location": {
                        "x": 987.0587158203125,
                        "y": 5176.892578125,
                        "z": 371.66632080078125
                    },
                    "rotation": {
                        "roll": 0.00036193206324242055,
                        "pitch": -0.012178226374089718,
                        "yaw": -89.89764404296875
                    }
                },
                "velocity": {
                    "x": 0.014391034841537476,
                    "y": -8.046019554138184,
                    "z": -0.0019347857451066375
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.433846960542724e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0010177348740398884,
                        "pitch": 0.013359849341213703,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 2.846143615897745e-05,
                    "y": 3.0629591947217705e-06,
                    "z": 7.933184679131955e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006732207257300615,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0014753150753676891,
                        "pitch": -0.019739245995879173,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.15680515288841e-05,
                    "y": 1.4024461961525958e-05,
                    "z": 0.0006717898068018258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.958169937133789,
                "transform": {
                    "location": {
                        "x": 983.72021484375,
                        "y": 5260.0078125,
                        "z": 371.6072082519531
                    },
                    "rotation": {
                        "roll": 0.0001712016819510609,
                        "pitch": -0.04690290614962578,
                        "yaw": 90.19052124023438
                    }
                },
                "velocity": {
                    "x": -0.006488858722150326,
                    "y": 1.9581583738327026,
                    "z": -0.001730966498143971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3457183837890625,
                "transform": {
                    "location": {
                        "x": 983.6771850585938,
                        "y": 5274.47509765625,
                        "z": 371.591796875
                    },
                    "rotation": {
                        "roll": -0.01431274600327015,
                        "pitch": -0.2053837776184082,
                        "yaw": 91.13994598388672
                    }
                },
                "velocity": {
                    "x": -0.08041255176067352,
                    "y": 2.34433913230896,
                    "z": -0.0014058684464544058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9991552233695984,
        "expert_target_speed": 5.647698648055726,
        "target_point": [
            10.515897872244306,
            1.1837068379425528
        ],
        "target_point_next": [
            26.3704130559547,
            -0.969236314460415
        ]
    },
    "450": {
        "acceleration": [
            -0.41692495346069336,
            0.6115150451660156,
            -0.015537068247795105
        ],
        "angular_velocity": [
            0.10890340805053711,
            -0.44581806659698486,
            7.9948835372924805
        ],
        "forward_vector": [
            -0.18146082758903503,
            0.9833977818489075,
            0.0008174179238267243
        ],
        "right_vector": [
            -0.9833894968032837,
            -0.18146266043186188,
            0.004041600041091442
        ],
        "location": [
            986.20654296875,
            5232.32763671875,
            371.6145324707031
        ],
        "rotation": [
            -0.23156733810901642,
            0.04683460295200348,
            100.45486450195312
        ],
        "velocity": [
            -1.0616874694824219,
            4.616734504699707,
            -0.0021105860359966755
        ],
        "speed": 4.737237356280645,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.21620532870292664,
                "transform": {
                    "location": {
                        "x": 983.9832763671875,
                        "y": 5162.94580078125,
                        "z": 371.6295471191406
                    },
                    "rotation": {
                        "roll": 0.0004974363255314529,
                        "pitch": 0.006536490749567747,
                        "yaw": 89.83758544921875
                    }
                },
                "velocity": {
                    "x": -0.00177190569229424,
                    "y": 0.21619342267513275,
                    "z": 0.001417131396010518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009254455566406,
                "transform": {
                    "location": {
                        "x": 987.0623168945312,
                        "y": 5174.8857421875,
                        "z": 371.6658935546875
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": -0.012881736271083355,
                        "yaw": -89.8974838256836
                    }
                },
                "velocity": {
                    "x": 0.014265738427639008,
                    "y": -8.009241104125977,
                    "z": -0.0024788856972008944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006011027726344764,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0002746574755292386,
                        "pitch": 0.01271098107099533,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -5.8754922065418214e-05,
                    "y": -4.096940756426193e-06,
                    "z": 0.0005982103175483644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014117189857643098,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0013484579976648092,
                        "pitch": -0.019534340128302574,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.204295578347228e-07,
                    "y": 2.179828015869134e-06,
                    "z": 0.00014115443627815694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8925056457519531,
                "transform": {
                    "location": {
                        "x": 983.71875,
                        "y": 5260.45751953125,
                        "z": 371.6067810058594
                    },
                    "rotation": {
                        "roll": -0.0010070794960483909,
                        "pitch": -0.03182867914438248,
                        "yaw": 90.18795013427734
                    }
                },
                "velocity": {
                    "x": -0.005359860602766275,
                    "y": 1.8924974203109741,
                    "z": -0.0016487980028614402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0032523921690881252,
                "transform": {
                    "location": {
                        "x": 983.6705932617188,
                        "y": 5274.66162109375,
                        "z": 371.5914611816406
                    },
                    "rotation": {
                        "roll": 0.005159351509064436,
                        "pitch": -0.3642881214618683,
                        "yaw": 91.28823852539062
                    }
                },
                "velocity": {
                    "x": 0.0001910386054078117,
                    "y": -0.002994129667058587,
                    "z": -0.0012556854635477066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0001249313354492,
        "expert_target_speed": 5.811635465822428,
        "target_point": [
            9.397013754507057,
            0.6688944704854471
        ],
        "target_point_next": [
            25.136568941153687,
            -2.206382638679422
        ]
    },
    "455": {
        "acceleration": [
            0.7317543029785156,
            0.4967498779296875,
            0.004172325134277344
        ],
        "angular_velocity": [
            0.13832320272922516,
            -0.9976162910461426,
            0.9759982228279114
        ],
        "forward_vector": [
            -0.20283243060112,
            0.9792132377624512,
            0.0006941555766388774
        ],
        "right_vector": [
            -0.9792130589485168,
            -0.2028329223394394,
            0.0007398258312605321
        ],
        "location": [
            985.9457397460938,
            5233.50146484375,
            371.6140441894531
        ],
        "rotation": [
            -0.0423889122903347,
            0.039772190153598785,
            101.70264434814453
        ],
        "velocity": [
            -1.0214967727661133,
            4.753450870513916,
            -0.0021103001199662685
        ],
        "speed": 4.861969851321693,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1867874711751938,
                "transform": {
                    "location": {
                        "x": 983.9829711914062,
                        "y": 5163.09033203125,
                        "z": 371.6296081542969
                    },
                    "rotation": {
                        "roll": 0.000272457575192675,
                        "pitch": 0.01029309444129467,
                        "yaw": 89.8523941040039
                    }
                },
                "velocity": {
                    "x": -0.0004392593982629478,
                    "y": 0.18677891790866852,
                    "z": 0.00173241610173136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046365737915039,
                "transform": {
                    "location": {
                        "x": 987.0661010742188,
                        "y": 5172.87841796875,
                        "z": 371.6654357910156
                    },
                    "rotation": {
                        "roll": -0.0010681158164516091,
                        "pitch": -0.011932339519262314,
                        "yaw": -89.8932113647461
                    }
                },
                "velocity": {
                    "x": 0.014924760907888412,
                    "y": -8.046351432800293,
                    "z": -0.0017713927663862705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00043994036968797445,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00035604945151135325,
                        "pitch": 0.013933585025370121,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 1.727117705740966e-05,
                    "y": 8.895220162230544e-06,
                    "z": 0.0004395112337078899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008202420431189239,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0008008313598111272,
                        "pitch": -0.019438717514276505,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.2276054753310746e-06,
                    "y": 3.4807737847586395e-06,
                    "z": 0.0008202283061109483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9633413553237915,
                "transform": {
                    "location": {
                        "x": 983.7171020507812,
                        "y": 5260.978515625,
                        "z": 371.60650634765625
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": -0.04619939625263214,
                        "yaw": 90.18706512451172
                    }
                },
                "velocity": {
                    "x": -0.006500708870589733,
                    "y": 1.963329553604126,
                    "z": -0.0020613479427993298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014789009001106024,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.66357421875,
                        "z": 371.59173583984375
                    },
                    "rotation": {
                        "roll": 0.00032592882052995265,
                        "pitch": -0.12308000028133392,
                        "yaw": 91.28828430175781
                    }
                },
                "velocity": {
                    "x": -7.83892537583597e-05,
                    "y": -0.0010350686497986317,
                    "z": -0.001053392537869513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9991351962089539,
        "expert_target_speed": 5.925477785447851,
        "target_point": [
            8.207023858869235,
            0.4468110709356803
        ],
        "target_point_next": [
            23.88023352629557,
            -2.770534830405375
        ]
    },
    "460": {
        "acceleration": [
            -0.0006246566772460938,
            -0.35549163818359375,
            0.011273762211203575
        ],
        "angular_velocity": [
            -0.2632456421852112,
            0.04946759343147278,
            0.916849672794342
        ],
        "forward_vector": [
            -0.20612338185310364,
            0.9785259962081909,
            -4.744529360323213e-05
        ],
        "right_vector": [
            -0.9785259962081909,
            -0.20612336695194244,
            0.00018002967408392578
        ],
        "location": [
            985.69287109375,
            5234.69091796875,
            371.61370849609375
        ],
        "rotation": [
            -0.010314940474927425,
            -0.0027184151113033295,
            101.89527130126953
        ],
        "velocity": [
            -1.0186837911605835,
            4.730220317840576,
            -0.001943826675415039
        ],
        "speed": 4.838667267097946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.09872245788574219,
                "transform": {
                    "location": {
                        "x": 983.9827880859375,
                        "y": 5163.18310546875,
                        "z": 371.6296081542969
                    },
                    "rotation": {
                        "roll": 0.000480618211440742,
                        "pitch": -0.07125935703516006,
                        "yaw": 89.8532485961914
                    }
                },
                "velocity": {
                    "x": -0.0004996585776098073,
                    "y": 0.09871197491884232,
                    "z": 0.0013488674303516746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010353088378906,
                "transform": {
                    "location": {
                        "x": 987.0696411132812,
                        "y": 5170.87158203125,
                        "z": 371.66497802734375
                    },
                    "rotation": {
                        "roll": -0.0008239740855060518,
                        "pitch": -0.012205547653138638,
                        "yaw": -89.896728515625
                    }
                },
                "velocity": {
                    "x": 0.014470896683633327,
                    "y": -8.010340690612793,
                    "z": -0.0018796920776367188
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006391887436620891,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0005572348600253463,
                        "pitch": 0.013277887366712093,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 2.7966845664195716e-05,
                    "y": 2.68049152509775e-05,
                    "z": 0.0006380138220265508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008221461321227252,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0014343830989673734,
                        "pitch": -0.019616302102804184,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -4.258524495526217e-05,
                    "y": 1.7380041754222475e-05,
                    "z": 0.0008208585204556584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8992611169815063,
                "transform": {
                    "location": {
                        "x": 983.7156982421875,
                        "y": 5261.4287109375,
                        "z": 371.6060791015625
                    },
                    "rotation": {
                        "roll": -0.0003967279917560518,
                        "pitch": -0.032047245651483536,
                        "yaw": 90.18108367919922
                    }
                },
                "velocity": {
                    "x": -0.0053063551895320415,
                    "y": 1.8992528915405273,
                    "z": -0.0017840575892478228
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004107305430807173,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.66357421875,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": 0.00015611395065207034,
                        "pitch": -0.06847947090864182,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 8.482828889100347e-06,
                    "y": -0.00032195160747505724,
                    "z": 0.0002549015043769032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.999853789806366,
        "expert_target_speed": 5.902429199765251,
        "target_point": [
            22.654750574580145,
            -2.8530730329122305
        ],
        "target_point_next": [
            22.654750574580145,
            -2.8530730329122305
        ]
    },
    "465": {
        "acceleration": [
            0.19629597663879395,
            -0.2848529815673828,
            0.009336280636489391
        ],
        "angular_velocity": [
            -0.07012729346752167,
            -0.20465242862701416,
            0.02518644370138645
        ],
        "forward_vector": [
            -0.20855015516281128,
            0.9780113697052002,
            -0.0007680653361603618
        ],
        "right_vector": [
            -0.9780116677284241,
            -0.20855018496513367,
            3.888216087943874e-05
        ],
        "location": [
            985.4412231445312,
            5235.86181640625,
            371.61328125
        ],
        "rotation": [
            -0.0022277843672782183,
            -0.04400690644979477,
            102.03740692138672
        ],
        "velocity": [
            -0.9929990172386169,
            4.647427082061768,
            -0.001376028056256473
        ],
        "speed": 4.7523284326020665,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.17776009440422058,
                "transform": {
                    "location": {
                        "x": 983.9825439453125,
                        "y": 5163.31298828125,
                        "z": 371.6296081542969
                    },
                    "rotation": {
                        "roll": 0.0012595902662724257,
                        "pitch": -0.06115750968456268,
                        "yaw": 89.86447143554688
                    }
                },
                "velocity": {
                    "x": -0.0004004011279903352,
                    "y": 0.17775270342826843,
                    "z": 0.0015710544539615512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046542167663574,
                "transform": {
                    "location": {
                        "x": 987.0732421875,
                        "y": 5168.86474609375,
                        "z": 371.6645202636719
                    },
                    "rotation": {
                        "roll": 3.6933630326529965e-05,
                        "pitch": -0.011659132316708565,
                        "yaw": -89.89776611328125
                    }
                },
                "velocity": {
                    "x": 0.014413083903491497,
                    "y": -8.046528816223145,
                    "z": -0.0017324733780696988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013163547264412045,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0005798335769213736,
                        "pitch": 0.012758792378008366,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 1.9741048163268715e-05,
                    "y": -5.871804751222953e-05,
                    "z": 0.0013148962752893567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010411061812192202,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0014585956232622266,
                        "pitch": -0.019677773118019104,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.7327060049865395e-05,
                    "y": 3.575649998310837e-06,
                    "z": 0.0010409558890387416
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9697954654693604,
                "transform": {
                    "location": {
                        "x": 983.7139892578125,
                        "y": 5261.9521484375,
                        "z": 371.6058654785156
                    },
                    "rotation": {
                        "roll": -0.0005798358470201492,
                        "pitch": -0.04616524651646614,
                        "yaw": 90.18081665039062
                    }
                },
                "velocity": {
                    "x": -0.006231885403394699,
                    "y": 1.9697846174240112,
                    "z": -0.0020141792483627796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002110727655235678,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0007019055774435401,
                        "pitch": -0.05114445462822914,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 7.099621143424883e-05,
                    "y": -5.2267721912357956e-05,
                    "z": -0.00019177939975634217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9407262802124023,
        "expert_target_speed": 5.820766039699022,
        "target_point": [
            21.44997025963097,
            -2.9111831978517735
        ],
        "target_point_next": [
            21.44997025963097,
            -2.9111831978517735
        ]
    },
    "470": {
        "acceleration": [
            0.23057103157043457,
            -0.1519298553466797,
            0.003604888916015625
        ],
        "angular_velocity": [
            0.021092265844345093,
            -0.03283865749835968,
            -1.904428243637085
        ],
        "forward_vector": [
            -0.2027706354856491,
            0.979225754737854,
            -0.0009506939095444977
        ],
        "right_vector": [
            -0.9792255163192749,
            -0.20277158915996552,
            -0.0010398348094895482
        ],
        "location": [
            985.2049560546875,
            5237.0166015625,
            371.6127624511719
        ],
        "rotation": [
            0.05957818403840065,
            -0.05447075515985489,
            101.69902801513672
        ],
        "velocity": [
            -0.9054222106933594,
            4.599643230438232,
            -0.0015662097139284015
        ],
        "speed": 4.687910752876286,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 25.431034088134766,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7125854492188,
                5262.40380859375,
                371.60540771484375
            ],
            "velocity": [
                -0.006048216484487057,
                1.9018447399139404,
                -0.001895208260975778
            ],
            "speed_kmh": 6.84667908505139,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4715277850627899,
                "transform": {
                    "location": {
                        "x": 983.9824829101562,
                        "y": 5163.4033203125,
                        "z": 371.6296691894531
                    },
                    "rotation": {
                        "roll": 0.0010609955061227083,
                        "pitch": -0.011112716980278492,
                        "yaw": 89.86363983154297
                    }
                },
                "velocity": {
                    "x": 0.0001516064949100837,
                    "y": 0.4715266227722168,
                    "z": 0.001036415109410882
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009066581726074,
                "transform": {
                    "location": {
                        "x": 987.0767822265625,
                        "y": 5166.85791015625,
                        "z": 371.6640930175781
                    },
                    "rotation": {
                        "roll": -0.0006713874754495919,
                        "pitch": -0.01272464171051979,
                        "yaw": -89.90078735351562
                    }
                },
                "velocity": {
                    "x": 0.013826912268996239,
                    "y": -8.009054183959961,
                    "z": -0.002189273713156581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010925621609203517,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": 0.0129090566188097,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -8.529840124538168e-05,
                    "y": -2.5086514142458327e-05,
                    "z": -6.34962270851247e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001416511251591146,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0013291204813867807,
                        "pitch": -0.019561661407351494,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -5.186845373827964e-05,
                    "y": 1.279280968446983e-05,
                    "z": 0.0014155034441500902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.901855230331421,
                "transform": {
                    "location": {
                        "x": 983.7125854492188,
                        "y": 5262.40380859375,
                        "z": 371.60540771484375
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": -0.031896982342004776,
                        "yaw": 90.17963409423828
                    }
                },
                "velocity": {
                    "x": -0.006048216484487057,
                    "y": 1.9018447399139404,
                    "z": -0.001895208260975778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.80252638226375e-05,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0011291527189314365,
                        "pitch": -0.04712147265672684,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 1.897781839943491e-05,
                    "y": 3.923755230061943e-06,
                    "z": 4.394169445731677e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7419230937957764,
        "expert_target_speed": 5.759071555953728,
        "target_point": [
            20.28808582521719,
            -2.781650342948218
        ],
        "target_point_next": [
            20.28808582521719,
            -2.781650342948218
        ]
    },
    "475": {
        "acceleration": [
            0.24445295333862305,
            -0.016345977783203125,
            -0.0004987698048353195
        ],
        "angular_velocity": [
            0.05879347026348114,
            -0.044814333319664,
            -1.9848114252090454
        ],
        "forward_vector": [
            -0.19454772770404816,
            0.9808927178382874,
            -0.000792980077676475
        ],
        "right_vector": [
            -0.9808922410011292,
            -0.19454850256443024,
            -0.0010678446851670742
        ],
        "location": [
            984.9829711914062,
            5238.1640625,
            371.6121520996094
        ],
        "rotation": [
            0.06118302419781685,
            -0.045434415340423584,
            101.21830749511719
        ],
        "velocity": [
            -0.857980489730835,
            4.588562965393066,
            -0.0020946788135915995
        ],
        "speed": 4.668087467918267,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.79583168029785,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7109985351562,
                5262.92724609375,
                371.6051940917969
            ],
            "velocity": [
                -0.0061943428590893745,
                1.9724794626235962,
                -0.0017243194160982966
            ],
            "speed_kmh": 7.1009637933368435,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.69666588306427,
                "transform": {
                    "location": {
                        "x": 983.9821166992188,
                        "y": 5163.4931640625,
                        "z": 371.6296691894531
                    },
                    "rotation": {
                        "roll": -0.0019836442079395056,
                        "pitch": 0.06543321162462234,
                        "yaw": 89.91262817382812
                    }
                },
                "velocity": {
                    "x": -0.0021522517781704664,
                    "y": 0.6966610550880432,
                    "z": 0.0014513683272525668
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 987.0193481445312,
                        "y": 5164.7744140625,
                        "z": 371.6428527832031
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004089569265488535,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 8.68960632942617e-05,
                        "pitch": 0.012574377469718456,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -5.26140138390474e-05,
                    "y": 1.77752626768779e-05,
                    "z": 0.00040516856824979186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.12634903518483e-05,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0010048983385786414,
                        "pitch": -0.019616302102804184,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 3.338794704177417e-05,
                    "y": -1.6921502492550644e-06,
                    "z": 5.133806189405732e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9724899530410767,
                "transform": {
                    "location": {
                        "x": 983.7109985351562,
                        "y": 5262.92724609375,
                        "z": 371.6051940917969
                    },
                    "rotation": {
                        "roll": 0.0003516298020258546,
                        "pitch": -0.04654090479016304,
                        "yaw": 90.1773910522461
                    }
                },
                "velocity": {
                    "x": -0.0061943428590893745,
                    "y": 1.9724794626235962,
                    "z": -0.0017243194160982966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.701745249098167e-05,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0013427762314677238,
                        "pitch": -0.04589886963367462,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 3.1077063340489985e-06,
                    "y": -2.5445240680710413e-05,
                    "z": -5.093006620882079e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6150845885276794,
        "expert_target_speed": 5.738734892837363,
        "target_point": [
            19.141985674720523,
            -2.605850761225704
        ],
        "target_point_next": [
            19.141985674720523,
            -2.605850761225704
        ]
    },
    "480": {
        "acceleration": [
            0.5780744552612305,
            -1.5346717834472656,
            0.0051981001161038876
        ],
        "angular_velocity": [
            -0.38657239079475403,
            -0.15084652602672577,
            -2.836592674255371
        ],
        "forward_vector": [
            -0.18422415852546692,
            0.9828832745552063,
            -0.0013768667122349143
        ],
        "right_vector": [
            -0.9828829765319824,
            -0.18422597646713257,
            -0.0013283926527947187
        ],
        "location": [
            984.7774047851562,
            5239.296875,
            371.6117248535156
        ],
        "rotation": [
            0.07611138373613358,
            -0.0788886770606041,
            100.61591339111328
        ],
        "velocity": [
            -0.758796215057373,
            4.4054484367370605,
            -0.0018098639557138085
        ],
        "speed": 4.470318514908575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.106666564941406,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7096557617188,
                5263.3798828125,
                371.6047058105469
            ],
            "velocity": [
                -0.0058614332228899,
                1.905956506729126,
                -0.0027355097699910402
            ],
            "speed_kmh": 6.8614829375749835,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005158195737749338,
                "transform": {
                    "location": {
                        "x": 983.9818725585938,
                        "y": 5163.56494140625,
                        "z": 371.6297302246094
                    },
                    "rotation": {
                        "roll": 0.0009454504470340908,
                        "pitch": -0.013182264752686024,
                        "yaw": 89.88623046875
                    }
                },
                "velocity": {
                    "x": -0.0003510469105094671,
                    "y": 0.005007943604141474,
                    "z": 0.0011850118171423674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.986083984375,
                        "y": 5162.69091796875,
                        "z": 371.6299133300781
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010904950613621622,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": 0.01292954757809639,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 9.878674609353766e-05,
                    "y": 1.1475749488454312e-05,
                    "z": -4.473567969398573e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005533000221475959,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0009829194750636816,
                        "pitch": -0.019588980823755264,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -3.152212593704462e-05,
                    "y": -3.946657307096757e-05,
                    "z": 0.0005509897018782794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9059674739837646,
                "transform": {
                    "location": {
                        "x": 983.7096557617188,
                        "y": 5263.3798828125,
                        "z": 371.6047058105469
                    },
                    "rotation": {
                        "roll": -9.155389852821827e-05,
                        "pitch": -0.032347775995731354,
                        "yaw": 90.17670440673828
                    }
                },
                "velocity": {
                    "x": -0.0058614332228899,
                    "y": 1.905956506729126,
                    "z": -0.0027355097699910402
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017826736439019442,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0010681144194677472,
                        "pitch": -0.045468565076589584,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -5.136259278515354e-05,
                    "y": 6.831041446275776e-06,
                    "z": 0.00017057103104889393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.47622448205947876,
        "expert_target_speed": 5.552244514619888,
        "target_point": [
            18.01703011420146,
            -2.397816501590787
        ],
        "target_point_next": [
            18.01703011420146,
            -2.397816501590787
        ]
    },
    "485": {
        "acceleration": [
            0.4833853244781494,
            -1.4631414413452148,
            -0.001302529126405716
        ],
        "angular_velocity": [
            -0.20926329493522644,
            0.006226114928722382,
            -2.4892804622650146
        ],
        "forward_vector": [
            -0.17214076220989227,
            0.9850678443908691,
            -0.002986903302371502
        ],
        "right_vector": [
            -0.9850705862045288,
            -0.17214548587799072,
            -0.0013984484830871224
        ],
        "location": [
            984.6038208007812,
            5240.3408203125,
            371.61151123046875
        ],
        "rotation": [
            0.0801255851984024,
            -0.17113721370697021,
            99.912353515625
        ],
        "velocity": [
            -0.623602569103241,
            3.988049268722534,
            -0.0023238277062773705
        ],
        "speed": 4.0365105145348625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.580488204956055,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7083129882812,
                5263.904296875,
                371.6044921875
            ],
            "velocity": [
                -0.00417749211192131,
                1.9757872819900513,
                -0.0016832636902108788
            ],
            "speed_kmh": 7.112852695201734,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15619796514511108,
                "transform": {
                    "location": {
                        "x": 983.981689453125,
                        "y": 5163.6162109375,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": -0.00021362185361795127,
                        "pitch": -0.029479095712304115,
                        "yaw": 89.90302276611328
                    }
                },
                "velocity": {
                    "x": -0.00025120002101175487,
                    "y": 0.1561952531337738,
                    "z": 0.0008856868371367455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5722,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.9888305664062,
                        "y": 5160.60791015625,
                        "z": 371.6291198730469
                    },
                    "rotation": {
                        "roll": -4.168816403193887e-10,
                        "pitch": -0.012786113657057285,
                        "yaw": -89.897705078125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017867999849841,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": 0.01272464171051979,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 5.5067052016966045e-05,
                    "y": -2.5644003471825272e-05,
                    "z": -0.00016803733888082206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002926739689428359,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0009242008673027158,
                        "pitch": -0.01833905652165413,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 8.443092519883066e-05,
                    "y": -5.462974968395429e-06,
                    "z": -0.0002801778318826109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.975792407989502,
                "transform": {
                    "location": {
                        "x": 983.7083129882812,
                        "y": 5263.904296875,
                        "z": 371.6044921875
                    },
                    "rotation": {
                        "roll": -0.0007019022013992071,
                        "pitch": -0.0472717359662056,
                        "yaw": 90.16780090332031
                    }
                },
                "velocity": {
                    "x": -0.00417749211192131,
                    "y": 1.9757872819900513,
                    "z": -0.0016832636902108788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021145123173482716,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.001159669947810471,
                        "pitch": -0.045407094061374664,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 4.668879773817025e-05,
                    "y": -2.6121948394575156e-05,
                    "z": -0.00020457131904549897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3312767446041107,
        "expert_target_speed": 5.14108830847786,
        "target_point": [
            16.98687352970967,
            -2.1676792473263546
        ],
        "target_point_next": [
            16.98687352970967,
            -2.1676792473263546
        ]
    },
    "490": {
        "acceleration": [
            0.4134559631347656,
            -1.0752248764038086,
            -0.010921478271484375
        ],
        "angular_velocity": [
            0.05996774509549141,
            -0.0008203397155739367,
            -3.565394401550293
        ],
        "forward_vector": [
            -0.15929333865642548,
            0.9872264862060547,
            -0.0030785747803747654
        ],
        "right_vector": [
            -0.987229585647583,
            -0.1592981368303299,
            -0.0013800865272060037
        ],
        "location": [
            984.4593505859375,
            5241.296875,
            371.611083984375
        ],
        "rotation": [
            0.07907354086637497,
            -0.17638961970806122,
            99.16592407226562
        ],
        "velocity": [
            -0.5167381763458252,
            3.688922643661499,
            -0.001833047834224999
        ],
        "speed": 3.7249387396052236,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.072813034057617,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7071533203125,
                5264.357421875,
                371.60406494140625
            ],
            "velocity": [
                -0.004340966232120991,
                1.9105180501937866,
                -0.0012990188552066684
            ],
            "speed_kmh": 6.877884324422802,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.33347997069358826,
                "transform": {
                    "location": {
                        "x": 983.9815673828125,
                        "y": 5163.67822265625,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": 0.012560716830193996,
                        "yaw": 89.93622589111328
                    }
                },
                "velocity": {
                    "x": -0.001025914796628058,
                    "y": 0.3334769308567047,
                    "z": 0.0009863567538559437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00025646627182140946,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00033569353399798274,
                        "pitch": 0.012533396482467651,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -4.282334339222871e-05,
                    "y": 2.257731648569461e-05,
                    "z": 0.00025185587583109736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009388185571879148,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0003008193161804229,
                        "pitch": -0.018830830231308937,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 0.00012425953173078597,
                    "y": 9.9570490874612e-07,
                    "z": 0.0009305583662353456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9105234146118164,
                "transform": {
                    "location": {
                        "x": 983.7071533203125,
                        "y": 5264.357421875,
                        "z": 371.60406494140625
                    },
                    "rotation": {
                        "roll": -0.0007019054028205574,
                        "pitch": -0.03326302021741867,
                        "yaw": 90.15740966796875
                    }
                },
                "velocity": {
                    "x": -0.004340966232120991,
                    "y": 1.9105180501937866,
                    "z": -0.0012990188552066684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8058841053280048e-05,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0013427762314677238,
                        "pitch": -0.045311473309993744,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -2.16780131268024e-06,
                    "y": 3.5210184705647407e-06,
                    "z": 2.7752506866818294e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2558673918247223,
        "expert_target_speed": 4.842111105594647,
        "target_point": [
            16.04680987813377,
            -1.9365419196281795
        ],
        "target_point_next": [
            16.04680987813377,
            -1.9365419196281795
        ]
    },
    "495": {
        "acceleration": [
            0.2971065044403076,
            -0.6903886795043945,
            0.0026397709734737873
        ],
        "angular_velocity": [
            0.12868043780326843,
            0.04320938140153885,
            -2.7113988399505615
        ],
        "forward_vector": [
            -0.14521311223506927,
            0.9893969297409058,
            -0.0026322570629417896
        ],
        "right_vector": [
            -0.9893988370895386,
            -0.14521710574626923,
            -0.0013925711391493678
        ],
        "location": [
            984.3400268554688,
            5242.18896484375,
            371.6104736328125
        ],
        "rotation": [
            0.07978875190019608,
            -0.1508173942565918,
            98.34964752197266
        ],
        "velocity": [
            -0.4252389371395111,
            3.476243495941162,
            -0.0016168308211490512
        ],
        "speed": 3.5021560497403272,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 22.702709197998047,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.705810546875,
                5264.8828125,
                371.60382080078125
            ],
            "velocity": [
                -0.005418799351900816,
                1.976168155670166,
                -0.0017378806369379163
            ],
            "speed_kmh": 7.114234857086216,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5695586204528809,
                "transform": {
                    "location": {
                        "x": 983.9814453125,
                        "y": 5163.74755859375,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": 0.0007372240070253611,
                        "pitch": 0.06782377511262894,
                        "yaw": 89.92699432373047
                    }
                },
                "velocity": {
                    "x": 0.0006170371198095381,
                    "y": 0.5695571303367615,
                    "z": 0.0011367416009306908
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012814460205845535,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00032891210867092013,
                        "pitch": 0.01284075528383255,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -1.3804910850012675e-05,
                    "y": 4.590577191265766e-06,
                    "z": 0.0001273161033168435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000575815502088517,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.00028208631556481123,
                        "pitch": -0.018885472789406776,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -5.3689350352215115e-06,
                    "y": 4.409740540722851e-06,
                    "z": 0.0005757735925726593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.976176381111145,
                "transform": {
                    "location": {
                        "x": 983.705810546875,
                        "y": 5264.8828125,
                        "z": 371.60382080078125
                    },
                    "rotation": {
                        "roll": -0.0008239718736149371,
                        "pitch": -0.047599583864212036,
                        "yaw": 90.15455627441406
                    }
                },
                "velocity": {
                    "x": -0.005418799351900816,
                    "y": 1.976168155670166,
                    "z": -0.0017378806369379163
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024894330999813974,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0010681127896532416,
                        "pitch": -0.044799208641052246,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -2.5292334612458944e-05,
                    "y": -1.721684748190455e-05,
                    "z": -0.00024705598480068147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16695131361484528,
        "expert_target_speed": 4.6262019873285185,
        "target_point": [
            15.172808801745143,
            -1.6962506984939263
        ],
        "target_point_next": [
            15.172808801745143,
            -1.6962506984939263
        ]
    },
    "500": {
        "acceleration": [
            0.18182039260864258,
            0.11950492858886719,
            0.00457763671875
        ],
        "angular_velocity": [
            0.2926965057849884,
            0.03413240239024162,
            -3.790248155593872
        ],
        "forward_vector": [
            -0.13117697834968567,
            0.9913574457168579,
            -0.0017337789759039879
        ],
        "right_vector": [
            -0.9913578629493713,
            -0.13117921352386475,
            -0.0012474977411329746
        ],
        "location": [
            984.2384643554688,
            5243.0458984375,
            371.60980224609375
        ],
        "rotation": [
            0.07147648185491562,
            -0.09933826327323914,
            97.5376205444336
        ],
        "velocity": [
            -0.36930736899375916,
            3.420836925506592,
            -0.0019808292854577303
        ],
        "speed": 3.4407140543355945,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.973752975463867,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7054443359375,
                5265.01318359375,
                371.6024169921875
            ],
            "velocity": [
                -1.2605539268406574e-05,
                -0.0008689359528943896,
                -0.0014720320468768477
            ],
            "speed_kmh": 0.006153880621366636,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003705253591760993,
                "transform": {
                    "location": {
                        "x": 983.9815673828125,
                        "y": 5163.79345703125,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": 0.0002475147193763405,
                        "pitch": -0.005559773650020361,
                        "yaw": 89.87918090820312
                    }
                },
                "velocity": {
                    "x": 2.9918684958829544e-05,
                    "y": 0.003512689145281911,
                    "z": 0.001178568578325212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000429399311542511,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00024337341892533004,
                        "pitch": 0.01290222629904747,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 7.589460437884554e-05,
                    "y": 1.3419850802165456e-05,
                    "z": 0.0004224259755574167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.545749859767966e-05,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0007784598274156451,
                        "pitch": -0.019500188529491425,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -1.5429169479830307e-06,
                    "y": -3.508878762659151e-06,
                    "z": 3.524970088619739e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0017094112699851394,
                "transform": {
                    "location": {
                        "x": 983.7054443359375,
                        "y": 5265.01318359375,
                        "z": 371.6024169921875
                    },
                    "rotation": {
                        "roll": 0.00012054906255798414,
                        "pitch": 0.11324453353881836,
                        "yaw": 90.14086151123047
                    }
                },
                "velocity": {
                    "x": -1.2605539268406574e-05,
                    "y": -0.0008689359528943896,
                    "z": -0.0014720320468768477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.382980710535776e-05,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0005187993519939482,
                        "pitch": -0.045133888721466064,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -4.932311640004627e-06,
                    "y": 3.411504394534859e-06,
                    "z": 2.3062819309416227e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09511908143758774,
        "expert_target_speed": 4.564946518108588,
        "target_point": [
            14.33247224782744,
            -1.4693318641883943
        ],
        "target_point_next": [
            14.33247224782744,
            -1.4693318641883943
        ]
    },
    "505": {
        "acceleration": [
            0.2184593677520752,
            0.6915712356567383,
            0.008189773187041283
        ],
        "angular_velocity": [
            0.2825576066970825,
            -0.06119583547115326,
            -3.1657328605651855
        ],
        "forward_vector": [
            -0.11671999841928482,
            0.9931647181510925,
            -0.00047779077431187034
        ],
        "right_vector": [
            -0.9931637644767761,
            -0.11672057211399078,
            -0.0014234811533242464
        ],
        "location": [
            984.1488037109375,
            5243.9150390625,
            371.6090393066406
        ],
        "rotation": [
            0.08155949413776398,
            -0.027375396341085434,
            96.70284271240234
        ],
        "velocity": [
            -0.32123950123786926,
            3.5421535968780518,
            -0.0012583828065544367
        ],
        "speed": 3.5566904449265295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.10182762145996,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7053833007812,
                5265.01220703125,
                371.60345458984375
            ],
            "velocity": [
                -1.178407637780765e-05,
                -0.00028104966622777283,
                -0.001142404624260962
            ],
            "speed_kmh": 0.00423549769439064,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.11357281357049942,
                "transform": {
                    "location": {
                        "x": 983.9815673828125,
                        "y": 5163.83544921875,
                        "z": 371.6297607421875
                    },
                    "rotation": {
                        "roll": 0.0009321049437858164,
                        "pitch": -0.021364830434322357,
                        "yaw": 89.81851959228516
                    }
                },
                "velocity": {
                    "x": -0.0001167976442957297,
                    "y": 0.11356226354837418,
                    "z": 0.00154339789878577
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026244090986438096,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.0006107324152253568,
                        "pitch": 0.012977358885109425,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -0.00011540266132215038,
                    "y": -2.9102226108079776e-05,
                    "z": 0.00023390279966406524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012088901130482554,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0005651806714013219,
                        "pitch": -0.019438717514276505,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 7.74865929997759e-06,
                    "y": -7.417685083055403e-06,
                    "z": 0.0012088424991816282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011765271192416549,
                "transform": {
                    "location": {
                        "x": 983.7053833007812,
                        "y": 5265.01220703125,
                        "z": 371.60345458984375
                    },
                    "rotation": {
                        "roll": -0.00024414091603830457,
                        "pitch": -0.019042566418647766,
                        "yaw": 90.140869140625
                    }
                },
                "velocity": {
                    "x": -1.178407637780765e-05,
                    "y": -0.00028104966622777283,
                    "z": -0.001142404624260962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008315963204950094,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": -0.044983621686697006,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -8.986768989416305e-06,
                    "y": 1.4656274288427085e-05,
                    "z": 0.0008314186125062406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.038764577358961105,
        "expert_target_speed": 4.6744191268047866,
        "target_point": [
            13.478692681574298,
            -1.2479673962274287
        ],
        "target_point_next": [
            13.478692681574298,
            -1.2479673962274287
        ]
    },
    "510": {
        "acceleration": [
            0.18431603908538818,
            0.8754444122314453,
            0.008739279583096504
        ],
        "angular_velocity": [
            0.16148550808429718,
            0.0013830069219693542,
            -4.3591628074646
        ],
        "forward_vector": [
            -0.10009323060512543,
            0.9949779510498047,
            0.00045597547432407737
        ],
        "right_vector": [
            -0.9949768781661987,
            -0.10009239614009857,
            -0.0015940305311232805
        ],
        "location": [
            984.0707397460938,
            5244.826171875,
            371.60833740234375
        ],
        "rotation": [
            0.09133127331733704,
            0.0261254720389843,
            95.74453735351562
        ],
        "velocity": [
            -0.2765078544616699,
            3.74690318107605,
            -0.002072038594633341
        ],
        "speed": 3.7570919661271027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.189342498779297,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7053833007812,
                5265.01220703125,
                371.6036376953125
            ],
            "velocity": [
                6.05976274528075e-05,
                -2.5738543172337813e-06,
                -0.0011148079065605998
            ],
            "speed_kmh": 0.004019243801959321,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.33765146136283875,
                "transform": {
                    "location": {
                        "x": 983.9813842773438,
                        "y": 5163.88720703125,
                        "z": 371.6297912597656
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": 0.01789509505033493,
                        "yaw": 89.85140991210938
                    }
                },
                "velocity": {
                    "x": 9.800042607821524e-05,
                    "y": 0.3376481235027313,
                    "z": 0.0014977931277826428
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005260704201646149,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00048828055150806904,
                        "pitch": 0.01274513266980648,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": 0.0001686733594397083,
                    "y": 2.6387429898022674e-05,
                    "z": -0.0004975973279215395
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010552559979259968,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0009517108555883169,
                        "pitch": -0.019807547330856323,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": 1.1920609722437803e-05,
                    "y": 3.492568066576496e-05,
                    "z": -9.886226325761527e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011164565803483129,
                "transform": {
                    "location": {
                        "x": 983.7053833007812,
                        "y": 5265.01220703125,
                        "z": 371.6036376953125
                    },
                    "rotation": {
                        "roll": 2.7605909053818323e-05,
                        "pitch": -0.03921211510896683,
                        "yaw": 90.14087677001953
                    }
                },
                "velocity": {
                    "x": 6.05976274528075e-05,
                    "y": -2.5738543172337813e-06,
                    "z": -0.0011148079065605998
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027884115115739405,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": -0.045468565076589584,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -7.44920180295594e-05,
                    "y": 8.053621058934368e-06,
                    "z": -0.000268586038146168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.006005619652569294,
        "expert_target_speed": 4.8641507933942805,
        "target_point": [
            12.58330832157012,
            -1.008841265810434
        ],
        "target_point_next": [
            12.58330832157012,
            -1.008841265810434
        ]
    },
    "515": {
        "acceleration": [
            0.22967010736465454,
            0.9436655044555664,
            0.0047004688531160355
        ],
        "angular_velocity": [
            0.0770183727145195,
            -0.061065223067998886,
            -3.7679641246795654
        ],
        "forward_vector": [
            -0.08271674811840057,
            0.9965726137161255,
            0.0009552238625474274
        ],
        "right_vector": [
            -0.9965717196464539,
            -0.0827150046825409,
            -0.0017358525656163692
        ],
        "location": [
            984.0045166015625,
            5245.79248046875,
            371.6077575683594
        ],
        "rotation": [
            0.09945712238550186,
            0.05473030358552933,
            94.74474334716797
        ],
        "velocity": [
            -0.22467970848083496,
            3.9777843952178955,
            -0.0018188476096838713
        ],
        "speed": 3.98412470515696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 19.222055435180664,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7053833007812,
                5265.01220703125,
                371.6036376953125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.511023998260498,
                "transform": {
                    "location": {
                        "x": 983.9811401367188,
                        "y": 5163.95166015625,
                        "z": 371.6297912597656
                    },
                    "rotation": {
                        "roll": -0.0018310552695766091,
                        "pitch": 0.06315875798463821,
                        "yaw": 89.9002456665039
                    }
                },
                "velocity": {
                    "x": -0.001517860102467239,
                    "y": 0.5110195279121399,
                    "z": 0.0015053462702780962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.004113962873816e-05,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": 0.00021536563872359693,
                        "pitch": 0.01290222629904747,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -8.317157335113734e-05,
                    "y": 7.977107998158317e-06,
                    "z": -3.3559823350515217e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00023992301430553198,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.0012084799818694592,
                        "pitch": -0.019377246499061584,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -2.7656964448397048e-05,
                    "y": -4.037187318317592e-05,
                    "z": 0.00023487923317588866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.7053833007812,
                        "y": 5265.01220703125,
                        "z": 371.6036376953125
                    },
                    "rotation": {
                        "roll": 2.7605909053818323e-05,
                        "pitch": -0.03921211510896683,
                        "yaw": 90.14087677001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.001098630134947598,
                        "pitch": -0.045372944325208664,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.013343418017029762,
        "expert_target_speed": 4.94367336248584,
        "target_point": [
            11.630521653625959,
            -0.7751765732933125
        ],
        "target_point_next": [
            11.630521653625959,
            -0.7751765732933125
        ]
    },
    "520": {
        "acceleration": [
            0.2708616852760315,
            0.986175537109375,
            -0.001993752084672451
        ],
        "angular_velocity": [
            0.05465632677078247,
            -0.09101635217666626,
            -4.610430717468262
        ],
        "forward_vector": [
            -0.06417462974786758,
            0.9979379773139954,
            0.0011782642686739564
        ],
        "right_vector": [
            -0.9979369044303894,
            -0.06417226791381836,
            -0.0019435365684330463
        ],
        "location": [
            983.9524536132812,
            5246.81884765625,
            371.6070861816406
        ],
        "rotation": [
            0.11135659366846085,
            0.06750958412885666,
            93.6794662475586
        ],
        "velocity": [
            -0.16166529059410095,
            4.222115993499756,
            -0.0021763229742646217
        ],
        "speed": 4.225209950848514,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 3.0,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.195035934448242,
        "front_vehicle_info": {
            "id": 5690,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                983.7053833007812,
                5265.01220703125,
                371.6036376953125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,28,0"
        },
        "other_vehicles": [
            {
                "id": 5723,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.10290749371051788,
                "transform": {
                    "location": {
                        "x": 983.9810791015625,
                        "y": 5163.9736328125,
                        "z": 371.6297912597656
                    },
                    "rotation": {
                        "roll": 0.0005323846125975251,
                        "pitch": -0.016330981627106667,
                        "yaw": 89.85567474365234
                    }
                },
                "velocity": {
                    "x": -0.00018684871611185372,
                    "y": 0.10289541631937027,
                    "z": 0.0015653228620067239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 5692,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012444081949070096,
                "transform": {
                    "location": {
                        "x": 983.8651123046875,
                        "y": 5176.9609375,
                        "z": 371.6310119628906
                    },
                    "rotation": {
                        "roll": -0.00012207002873765305,
                        "pitch": 0.012519735842943192,
                        "yaw": 90.60530853271484
                    }
                },
                "velocity": {
                    "x": -7.834083226043731e-05,
                    "y": -3.088546873186715e-05,
                    "z": -9.162052447209135e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5691,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002890269097406417,
                "transform": {
                    "location": {
                        "x": 983.8237915039062,
                        "y": 5195.2900390625,
                        "z": 371.6311340332031
                    },
                    "rotation": {
                        "roll": 0.001300313975661993,
                        "pitch": -0.019739245995879173,
                        "yaw": 90.17442321777344
                    }
                },
                "velocity": {
                    "x": -7.425300282193348e-05,
                    "y": 9.931546628649812e-06,
                    "z": 0.00027914944803342223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5690,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 983.7053833007812,
                        "y": 5265.01220703125,
                        "z": 371.6036376953125
                    },
                    "rotation": {
                        "roll": 2.7605909053818323e-05,
                        "pitch": -0.03921211510896683,
                        "yaw": 90.14087677001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 5689,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016523778322152793,
                "transform": {
                    "location": {
                        "x": 983.6705322265625,
                        "y": 5274.6640625,
                        "z": 371.5918273925781
                    },
                    "rotation": {
                        "roll": -0.0009765588911250234,
                        "pitch": -0.045045096427202225,
                        "yaw": 91.28834533691406
                    }
                },
                "velocity": {
                    "x": -4.0016351704252884e-05,
                    "y": -4.6371433199965395e-06,
                    "z": 0.0001602520205779001
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 5684,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 981.52099609375,
                        "y": 5224.6943359375,
                        "z": 371.6212463378906
                    },
                    "rotation": {
                        "roll": -0.028991686180233955,
                        "pitch": -0.029028302058577538,
                        "yaw": 90.10209655761719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02611956186592579,
        "expert_target_speed": 5.134955577851602,
        "target_point": [
            10.615330271212548,
            -0.54490786026287
        ],
        "target_point_next": [
            10.615330271212548,
            -0.54490786026287
        ]
    }
}