{
    "0": {
        "acceleration": [
            0.00323376152664423,
            0.004432701505720615,
            -0.46802908182144165
        ],
        "angular_velocity": [
            0.00026376143796369433,
            -0.03080706298351288,
            -0.00012392998905852437
        ],
        "forward_vector": [
            -0.9871125817298889,
            -0.15972617268562317,
            -0.009809216484427452
        ],
        "right_vector": [
            0.1597336232662201,
            -0.9871601462364197,
            2.396729360043537e-05
        ],
        "location": [
            3041.2890625,
            4270.37841796875,
            361.6891784667969
        ],
        "rotation": [
            -0.0013732908992096782,
            -0.5620357394218445,
            -170.8085479736328
        ],
        "velocity": [
            -0.0009956789435818791,
            -0.0001391196419717744,
            0.09137053042650223
        ],
        "speed": 0.0010053510996038556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 110.36319732666016,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.71343994140625
            ],
            "velocity": [
                -0.0019226723816245794,
                -0.0007519387872889638,
                0.19042380154132843
            ],
            "speed_kmh": 0.6855659721115368,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2583135962486267,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.2333984375,
                        "z": 360.5751953125
                    },
                    "rotation": {
                        "roll": 0.020130464807152748,
                        "pitch": -0.34844890236854553,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.002178594935685396,
                    "y": 0.00013725868484470993,
                    "z": 0.2583043575286865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.2751314043998718,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6505432128906
                    },
                    "rotation": {
                        "roll": -0.025299072265625,
                        "pitch": -0.3605041801929474,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0015802404377609491,
                    "y": -0.0010164430132135749,
                    "z": 0.27512499690055847
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.190434992313385,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.71343994140625
                    },
                    "rotation": {
                        "roll": -0.01031493954360485,
                        "pitch": -0.3865955173969269,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0019226723816245794,
                    "y": -0.0007519387872889638,
                    "z": 0.19042380154132843
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0005313964211381972,
        "expert_target_speed": 1.2902005635001108,
        "target_point": [
            51.000943531532585,
            -0.000606280313292018
        ],
        "target_point_next": [
            102.00100103477916,
            -0.0005745584542466986
        ]
    },
    "5": {
        "acceleration": [
            0.0017489370657131076,
            -0.0012106337817385793,
            -0.14720305800437927
        ],
        "angular_velocity": [
            0.01514718122780323,
            -0.0009824420558288693,
            5.850017987540923e-05
        ],
        "forward_vector": [
            -0.9871120452880859,
            -0.1597260981798172,
            -0.009863096289336681
        ],
        "right_vector": [
            0.1597338169813156,
            -0.9871600866317749,
            5.326000518834917e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.701904296875
        ],
        "rotation": [
            -0.0003051722014788538,
            -0.5651229619979858,
            -170.8085479736328
        ],
        "velocity": [
            -0.00024587646475993097,
            -0.00023517645604442805,
            0.02575560286641121
        ],
        "speed": 0.00034023991741190273,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.00022029876709,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3026.481201171875,
                4267.98291015625,
                361.6026916503906
            ],
            "velocity": [
                0.002119937911629677,
                0.000560424174182117,
                -0.23294635117053986
            ],
            "speed_kmh": 0.8386440169310919,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2329566776752472,
                "transform": {
                    "location": {
                        "x": 3026.481201171875,
                        "y": 4267.98291015625,
                        "z": 361.6026916503906
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": -0.5508683919906616,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.002119937911629677,
                    "y": 0.000560424174182117,
                    "z": -0.23294635117053986
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2961.61767578125,
                        "y": 4267.36376953125,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23217548429965973,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.6026916503906
                    },
                    "rotation": {
                        "roll": 0.0011539851548150182,
                        "pitch": -0.5514830946922302,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.002154874848201871,
                    "y": 0.0003197213518433273,
                    "z": -0.23216526210308075
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2962.137451171875,
                        "y": 4264.1552734375,
                        "z": 361.134765625
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3555392026901245,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.4238586425781
                    },
                    "rotation": {
                        "roll": 6.496976129710674e-05,
                        "pitch": -0.5433961749076843,
                        "yaw": -170.8083038330078
                    }
                },
                "velocity": {
                    "x": 0.0032925617415457964,
                    "y": 0.0005362260271795094,
                    "z": -0.3555235266685486
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5135807991027832,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.4089660644531
                    },
                    "rotation": {
                        "roll": -0.00027465380844660103,
                        "pitch": -0.5398854613304138,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.004766307305544615,
                    "y": 0.0007566791027784348,
                    "z": -0.5135581493377686
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.07658466696739197,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.2333984375,
                        "z": 360.61578369140625
                    },
                    "rotation": {
                        "roll": 0.006175559479743242,
                        "pitch": -0.3923943340778351,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0008214092813432217,
                    "y": 0.00026833737501874566,
                    "z": 0.07657979428768158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.04594893008470535,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6873474121094
                    },
                    "rotation": {
                        "roll": -0.0030517620034515858,
                        "pitch": -0.4015194773674011,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -0.0001344165939372033,
                    "y": -0.00018428804469294846,
                    "z": 0.045948367565870285
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.039306823164224625,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7379150390625
                    },
                    "rotation": {
                        "roll": -0.0023193336091935635,
                        "pitch": -0.414790540933609,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -0.0003704605042003095,
                    "y": -0.00045210443204268813,
                    "z": 0.03930247575044632
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0010396885918453336,
        "expert_target_speed": 1.0238375098492742,
        "target_point": [
            51.00046152002982,
            -0.0005039661864216782
        ],
        "target_point_next": [
            102.00051902325548,
            -0.00044792560489170796
        ]
    },
    "10": {
        "acceleration": [
            -0.0005892752669751644,
            -0.0005362408701330423,
            -0.042852070182561874
        ],
        "angular_velocity": [
            0.01470908522605896,
            -0.010043034330010414,
            -6.037783805368235e-06
        ],
        "forward_vector": [
            -0.9871119260787964,
            -0.15972581505775452,
            -0.009888130240142345
        ],
        "right_vector": [
            0.1597336083650589,
            -0.9871601462364197,
            2.130341954398318e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7052001953125
        ],
        "rotation": [
            -0.00012206557585159317,
            -0.5665573477745056,
            -170.80856323242188
        ],
        "velocity": [
            -0.00010830983228515834,
            -5.6761335144983605e-05,
            0.005866372026503086
        ],
        "speed": 0.00012228192399974853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000288009643555,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3026.481201171875,
                4267.98291015625,
                361.59625244140625
            ],
            "velocity": [
                -0.0002725413360167295,
                7.718814595136791e-05,
                0.024129731580615044
            ],
            "speed_kmh": 0.0868730188892471,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024131393060088158,
                "transform": {
                    "location": {
                        "x": 3026.481201171875,
                        "y": 4267.98291015625,
                        "z": 361.59625244140625
                    },
                    "rotation": {
                        "roll": -0.0010986339766532183,
                        "pitch": -0.5513942837715149,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": -0.0002725413360167295,
                    "y": 7.718814595136791e-05,
                    "z": 0.024129731580615044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2963.671142578125,
                        "y": 4267.6962890625,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024307874962687492,
                "transform": {
                    "location": {
                        "x": 3025.9619140625,
                        "y": 4271.19091796875,
                        "z": 361.59619140625
                    },
                    "rotation": {
                        "roll": 6.828838377259672e-05,
                        "pitch": -0.5523710250854492,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.00027342027169652283,
                    "y": 5.025230348110199e-05,
                    "z": 0.02430628426373005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2964.191162109375,
                        "y": 4264.48779296875,
                        "z": 361.0550842285156
                    },
                    "rotation": {
                        "roll": 6.67034072421302e-09,
                        "pitch": 0.4804491400718689,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04410598799586296,
                "transform": {
                    "location": {
                        "x": 3011.673583984375,
                        "y": 4265.5869140625,
                        "z": 361.41644287109375
                    },
                    "rotation": {
                        "roll": 0.0015610354021191597,
                        "pitch": -0.5443455576896667,
                        "yaw": -170.808349609375
                    }
                },
                "velocity": {
                    "x": -0.0005142632871866226,
                    "y": 0.0005304288933984935,
                    "z": 0.044099800288677216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.10490824282169342,
                "transform": {
                    "location": {
                        "x": 3011.154541015625,
                        "y": 4268.79541015625,
                        "z": 361.4001159667969
                    },
                    "rotation": {
                        "roll": -0.0003967254888266325,
                        "pitch": -0.5396122336387634,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -0.0009821797721087933,
                    "y": -0.0001923426316352561,
                    "z": 0.10490346699953079
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.01217886246740818,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6244812011719
                    },
                    "rotation": {
                        "roll": 0.002003129804506898,
                        "pitch": -0.4060957133769989,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -0.0001797120930859819,
                    "y": -9.460886758461129e-06,
                    "z": 0.01217753253877163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.006377216894179583,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.74224853515625
                    },
                    "rotation": {
                        "roll": 0.0003674694162327796,
                        "pitch": -0.42099234461784363,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -0.00010093949822476134,
                    "y": -9.142316412180662e-05,
                    "z": 0.0063757626339793205
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.000781916722189635,
        "expert_target_speed": 1.0039349021454707,
        "target_point": [
            51.00046152026434,
            -0.00047964727128047
        ],
        "target_point_next": [
            102.00051902345747,
            -0.0003992879672622962
        ]
    },
    "15": {
        "acceleration": [
            -0.00035897642374038696,
            -0.0010093494784086943,
            0.002646299544721842
        ],
        "angular_velocity": [
            0.005903575103729963,
            0.0006504683406092227,
            -7.945542893139645e-05
        ],
        "forward_vector": [
            -0.9871119856834412,
            -0.1597253531217575,
            -0.009889202192425728
        ],
        "right_vector": [
            0.15973317623138428,
            -0.9871602058410645,
            -2.2535675725521287e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7057189941406
        ],
        "rotation": [
            0.00012912621605210006,
            -0.566618800163269,
            -170.80859375
        ],
        "velocity": [
            -3.800883860094473e-05,
            -1.442650318494998e-05,
            0.002028924413025379
        ],
        "speed": 4.065459144965102e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.066974639892578,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3026.41552734375,
                4267.97119140625,
                361.59857177734375
            ],
            "velocity": [
                -0.9234884977340698,
                -0.16568173468112946,
                -0.0014801406068727374
            ],
            "speed_kmh": 3.3776435409579566,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9382343292236328,
                "transform": {
                    "location": {
                        "x": 3026.41552734375,
                        "y": 4267.97119140625,
                        "z": 361.59857177734375
                    },
                    "rotation": {
                        "roll": -0.0046691917814314365,
                        "pitch": -0.4757363200187683,
                        "yaw": -170.7747039794922
                    }
                },
                "velocity": {
                    "x": -0.9234884977340698,
                    "y": -0.16568173468112946,
                    "z": -0.0014801406068727374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2965.7265625,
                        "y": 4268.0283203125,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9439217448234558,
                "transform": {
                    "location": {
                        "x": 3025.8955078125,
                        "y": 4271.1796875,
                        "z": 361.59857177734375
                    },
                    "rotation": {
                        "roll": -0.00393676245585084,
                        "pitch": -0.47586607933044434,
                        "yaw": -170.7754364013672
                    }
                },
                "velocity": {
                    "x": -0.929081380367279,
                    "y": -0.1667034924030304,
                    "z": -0.0024575423449277878
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2966.24658203125,
                        "y": 4264.81982421875,
                        "z": 361.03076171875
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.245205044746399,
                "transform": {
                    "location": {
                        "x": 3011.5615234375,
                        "y": 4265.5673828125,
                        "z": 361.4219970703125
                    },
                    "rotation": {
                        "roll": -0.00793456844985485,
                        "pitch": -0.34655696153640747,
                        "yaw": -170.737548828125
                    }
                },
                "velocity": {
                    "x": -1.2268126010894775,
                    "y": -0.2132265418767929,
                    "z": 0.0009295463096350431
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02293299324810505,
                "transform": {
                    "location": {
                        "x": 3011.154296875,
                        "y": 4268.79541015625,
                        "z": 361.4156188964844
                    },
                    "rotation": {
                        "roll": -0.00021362630650401115,
                        "pitch": -0.5398239493370056,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": -0.0002530273632146418,
                    "y": 8.166957559296861e-05,
                    "z": 0.022931452840566635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014003399992361665,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 3.2743439078330994e-05,
                    "y": -0.0002589569485280663,
                    "z": 0.0013757983688265085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0008356825564987957,
        "expert_target_speed": 1.0052434503672667,
        "target_point": [
            51.00046152048725,
            -0.0004553283561445909
        ],
        "target_point_next": [
            102.00051902363627,
            -0.00035065032963288445
        ]
    },
    "20": {
        "acceleration": [
            0.0005462154513224959,
            -0.001141037791967392,
            -0.031537722796201706
        ],
        "angular_velocity": [
            0.00039633605047129095,
            -4.883268047706224e-05,
            -0.00011483189882710576
        ],
        "forward_vector": [
            -0.9871121048927307,
            -0.1597248762845993,
            -0.009889202192425728
        ],
        "right_vector": [
            0.1597326248884201,
            -0.987160325050354,
            6.391317128873197e-06
        ],
        "location": [
            3041.28857421875,
            4270.37841796875,
            361.7059326171875
        ],
        "rotation": [
            -0.0003662134113255888,
            -0.566618800163269,
            -170.80862426757812
        ],
        "velocity": [
            -1.94239619304426e-05,
            -4.286775492801098e-06,
            9.313829650636762e-05
        ],
        "speed": 1.9891373537314198e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.435583114624023,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3026.052490234375,
                4267.9072265625,
                361.5956115722656
            ],
            "velocity": [
                -1.923483967781067,
                -0.34510964155197144,
                -0.017420310527086258
            ],
            "speed_kmh": 7.035393620305431,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9542759656906128,
                "transform": {
                    "location": {
                        "x": 3026.052490234375,
                        "y": 4267.9072265625,
                        "z": 361.5956115722656
                    },
                    "rotation": {
                        "roll": -0.007080072537064552,
                        "pitch": -0.4426508843898773,
                        "yaw": -170.61175537109375
                    }
                },
                "velocity": {
                    "x": -1.923483967781067,
                    "y": -0.34510964155197144,
                    "z": -0.017420310527086258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2967.78271484375,
                        "y": 4268.361328125,
                        "z": 361.041015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9091156721115112,
                "transform": {
                    "location": {
                        "x": 3025.533935546875,
                        "y": 4271.11669921875,
                        "z": 361.5955505371094
                    },
                    "rotation": {
                        "roll": -0.006835941690951586,
                        "pitch": -0.4451848864555359,
                        "yaw": -170.59217834472656
                    }
                },
                "velocity": {
                    "x": -1.879081130027771,
                    "y": -0.33684584498405457,
                    "z": -0.017659645527601242
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2968.302978515625,
                        "y": 4265.1533203125,
                        "z": 361.0410461425781
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6523423194885254,
                "transform": {
                    "location": {
                        "x": 3011.072509765625,
                        "y": 4265.4814453125,
                        "z": 361.4186706542969
                    },
                    "rotation": {
                        "roll": -0.014068603515625,
                        "pitch": -0.26211532950401306,
                        "yaw": -170.50888061523438
                    }
                },
                "velocity": {
                    "x": -2.612196683883667,
                    "y": -0.4591658413410187,
                    "z": -0.02270560711622238
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.109723687171936,
                "transform": {
                    "location": {
                        "x": 3011.03515625,
                        "y": 4268.7744140625,
                        "z": 361.4156799316406
                    },
                    "rotation": {
                        "roll": -0.0020752018317580223,
                        "pitch": -0.5083572864532471,
                        "yaw": -170.75668334960938
                    }
                },
                "velocity": {
                    "x": -1.0925302505493164,
                    "y": -0.19426429271697998,
                    "z": -0.011213807389140129
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00024657996254973114,
        "expert_target_speed": 1.0191772941091206,
        "target_point": [
            51.00046152069857,
            -0.00043100944100515903
        ],
        "target_point_next": [
            102.00051902379188,
            -0.0003020126920034727
        ]
    },
    "25": {
        "acceleration": [
            -5.243355751037598,
            -0.8823732137680054,
            -0.0740477591753006
        ],
        "angular_velocity": [
            -0.23853793740272522,
            1.3526867628097534,
            0.2717893123626709
        ],
        "forward_vector": [
            -0.9871048927307129,
            -0.15980100631713867,
            -0.009352309629321098
        ],
        "right_vector": [
            0.15980790555477142,
            -0.987148106098175,
            1.011963377095526e-05
        ],
        "location": [
            3041.282958984375,
            4270.3779296875,
            361.7059020996094
        ],
        "rotation": [
            -0.0005798377096652985,
            -0.5358556509017944,
            -170.8042449951172
        ],
        "velocity": [
            -0.2622058391571045,
            -0.04406207427382469,
            -0.0015521812019869685
        ],
        "speed": 0.2658822455099125,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.051034927368164,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3025.440673828125,
                4267.80029296875,
                361.589599609375
            ],
            "velocity": [
                -3.033583641052246,
                -0.5149385333061218,
                -0.029466833919286728
            ],
            "speed_kmh": 11.077627437434092,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0771186351776123,
                "transform": {
                    "location": {
                        "x": 3025.440673828125,
                        "y": 4267.80029296875,
                        "z": 361.589599609375
                    },
                    "rotation": {
                        "roll": -0.0021057119593024254,
                        "pitch": -0.43084830045700073,
                        "yaw": -170.4089813232422
                    }
                },
                "velocity": {
                    "x": -3.033583641052246,
                    "y": -0.5149385333061218,
                    "z": -0.029466833919286728
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2969.83935546875,
                        "y": 4268.6943359375,
                        "z": 361.05279541015625
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0823137760162354,
                "transform": {
                    "location": {
                        "x": 3024.925048828125,
                        "y": 4271.009765625,
                        "z": 361.5896911621094
                    },
                    "rotation": {
                        "roll": -0.0011596707627177238,
                        "pitch": -0.43011748790740967,
                        "yaw": -170.40782165527344
                    }
                },
                "velocity": {
                    "x": -3.0387606620788574,
                    "y": -0.515502393245697,
                    "z": -0.02914806827902794
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2970.359375,
                        "y": 4265.486328125,
                        "z": 361.0528564453125
                    },
                    "rotation": {
                        "roll": 3.3351768014000527e-09,
                        "pitch": 0.49297571182250977,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.276493549346924,
                "transform": {
                    "location": {
                        "x": 3010.2080078125,
                        "y": 4265.33251953125,
                        "z": 361.4106140136719
                    },
                    "rotation": {
                        "roll": -0.0006408698973245919,
                        "pitch": -0.2131975144147873,
                        "yaw": -170.38421630859375
                    }
                },
                "velocity": {
                    "x": -4.215571403503418,
                    "y": -0.7182050943374634,
                    "z": -0.03921863064169884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8479361534118652,
                "transform": {
                    "location": {
                        "x": 3010.663330078125,
                        "y": 4268.71044921875,
                        "z": 361.4119567871094
                    },
                    "rotation": {
                        "roll": -0.002990720560774207,
                        "pitch": -0.5098257660865784,
                        "yaw": -170.5604248046875
                    }
                },
                "velocity": {
                    "x": -1.8191272020339966,
                    "y": -0.324537992477417,
                    "z": -0.017866715788841248
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0005030906177125871,
        "expert_target_speed": 1.3023736081409991,
        "target_point": [
            50.99484023994157,
            -0.0039066845364690295
        ],
        "target_point_next": [
            101.99489760444685,
            -0.007668683382146213
        ]
    },
    "30": {
        "acceleration": [
            -2.142075300216675,
            -0.35026758909225464,
            -0.02142658457159996
        ],
        "angular_velocity": [
            -0.03532630205154419,
            0.055344246327877045,
            -0.34253546595573425
        ],
        "forward_vector": [
            -0.9872466921806335,
            -0.15910254418849945,
            -0.00550362654030323
        ],
        "right_vector": [
            0.15910504758358002,
            -0.9872616529464722,
            -1.508617333456641e-05
        ],
        "location": [
            3041.0849609375,
            4270.345703125,
            361.70318603515625
        ],
        "rotation": [
            0.000864387140609324,
            -0.3153361678123474,
            -170.8450469970703
        ],
        "velocity": [
            -1.0586713552474976,
            -0.17083171010017395,
            -0.01043485663831234
        ],
        "speed": 1.0723658478324098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.801435470581055,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3024.503173828125,
                4267.640625,
                361.5802917480469
            ],
            "velocity": [
                -4.390045166015625,
                -0.74983811378479,
                -0.04273872822523117
            ],
            "speed_kmh": 16.033779386233185,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.453827857971191,
                "transform": {
                    "location": {
                        "x": 3024.503173828125,
                        "y": 4267.640625,
                        "z": 361.5802917480469
                    },
                    "rotation": {
                        "roll": -0.0038757326547056437,
                        "pitch": -0.40649184584617615,
                        "yaw": -170.3717041015625
                    }
                },
                "velocity": {
                    "x": -4.390045166015625,
                    "y": -0.74983811378479,
                    "z": -0.04273872822523117
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.011244773864746,
                "transform": {
                    "location": {
                        "x": 2971.8564453125,
                        "y": 4269.0205078125,
                        "z": 361.0691833496094
                    },
                    "rotation": {
                        "roll": -0.002868651645258069,
                        "pitch": 0.4509768784046173,
                        "yaw": 9.204294204711914
                    }
                },
                "velocity": {
                    "x": 6.919673442840576,
                    "y": 1.1291941404342651,
                    "z": 0.024317093193531036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.461617469787598,
                "transform": {
                    "location": {
                        "x": 3023.98583984375,
                        "y": 4270.85009765625,
                        "z": 361.58026123046875
                    },
                    "rotation": {
                        "roll": -0.002655032556504011,
                        "pitch": -0.4066148102283478,
                        "yaw": -170.37030029296875
                    }
                },
                "velocity": {
                    "x": -4.397735118865967,
                    "y": -0.7511188387870789,
                    "z": -0.042148470878601074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.600118160247803,
                "transform": {
                    "location": {
                        "x": 2972.290283203125,
                        "y": 4265.7998046875,
                        "z": 361.0688171386719
                    },
                    "rotation": {
                        "roll": 0.009556670673191547,
                        "pitch": 0.66614830493927,
                        "yaw": 9.250988960266113
                    }
                },
                "velocity": {
                    "x": 6.508394718170166,
                    "y": 1.094564437866211,
                    "z": 0.06544595211744308
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.446285247802734,
                "transform": {
                    "location": {
                        "x": 3008.977783203125,
                        "y": 4265.123046875,
                        "z": 361.3992919921875
                    },
                    "rotation": {
                        "roll": -0.004516599699854851,
                        "pitch": -0.2630578875541687,
                        "yaw": -170.34487915039062
                    }
                },
                "velocity": {
                    "x": -5.368389129638672,
                    "y": -0.9164758920669556,
                    "z": -0.04996532201766968
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.339341878890991,
                "transform": {
                    "location": {
                        "x": 3010.14794921875,
                        "y": 4268.6201171875,
                        "z": 361.4070739746094
                    },
                    "rotation": {
                        "roll": -0.0034179685171693563,
                        "pitch": -0.5172433853149414,
                        "yaw": -170.37274169921875
                    }
                },
                "velocity": {
                    "x": -2.305036783218384,
                    "y": -0.39854857325553894,
                    "z": -0.022015618160367012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00269495090469718,
        "expert_target_speed": 2.1206968189248285,
        "target_point": [
            50.79422682471755,
            0.032059623229823586
        ],
        "target_point_next": [
            101.79427395886599,
            0.06458115612885429
        ]
    },
    "35": {
        "acceleration": [
            -1.9550418853759766,
            -0.3049930930137634,
            -0.006927121430635452
        ],
        "angular_velocity": [
            0.03058956377208233,
            -0.09262008219957352,
            0.8845056891441345
        ],
        "forward_vector": [
            -0.9872557520866394,
            -0.15905062854290009,
            -0.005384776275604963
        ],
        "right_vector": [
            0.15905293822288513,
            -0.9872700572013855,
            -3.0116640914457093e-07
        ],
        "location": [
            3040.7421875,
            4270.29052734375,
            361.69976806640625
        ],
        "rotation": [
            1.725581387290731e-05,
            -0.3085264563560486,
            -170.8480682373047
        ],
        "velocity": [
            -1.6205103397369385,
            -0.2613295316696167,
            -0.014906959608197212
        ],
        "speed": 1.6414465831445715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.715351104736328,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3023.260009765625,
                4267.4287109375,
                361.56884765625
            ],
            "velocity": [
                -5.2394304275512695,
                -0.8947324752807617,
                -0.05037572607398033
            ],
            "speed_kmh": 19.13585921696214,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.315516471862793,
                "transform": {
                    "location": {
                        "x": 3023.260009765625,
                        "y": 4267.4287109375,
                        "z": 361.56884765625
                    },
                    "rotation": {
                        "roll": -0.004333497025072575,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.33724975585938
                    }
                },
                "velocity": {
                    "x": -5.2394304275512695,
                    "y": -0.8947324752807617,
                    "z": -0.05037572607398033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.695351600646973,
                "transform": {
                    "location": {
                        "x": 2973.51953125,
                        "y": 4269.30322265625,
                        "z": 361.07568359375
                    },
                    "rotation": {
                        "roll": -0.005859371740370989,
                        "pitch": 0.4621237516403198,
                        "yaw": 9.627826690673828
                    }
                },
                "velocity": {
                    "x": 6.594991207122803,
                    "y": 1.1541576385498047,
                    "z": 0.04179820790886879
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324115753173828,
                "transform": {
                    "location": {
                        "x": 3022.740966796875,
                        "y": 4270.63818359375,
                        "z": 361.56884765625
                    },
                    "rotation": {
                        "roll": -0.005950930528342724,
                        "pitch": -0.4434773325920105,
                        "yaw": -170.30328369140625
                    }
                },
                "velocity": {
                    "x": -5.247706413269043,
                    "y": -0.897365152835846,
                    "z": -0.05023321136832237
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.636908531188965,
                "transform": {
                    "location": {
                        "x": 2973.919921875,
                        "y": 4266.078125,
                        "z": 361.0858154296875
                    },
                    "rotation": {
                        "roll": 0.012140132486820221,
                        "pitch": 0.5466883182525635,
                        "yaw": 9.629423141479492
                    }
                },
                "velocity": {
                    "x": 6.53739595413208,
                    "y": 1.14329993724823,
                    "z": 0.0622241385281086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.584915637969971,
                "transform": {
                    "location": {
                        "x": 3007.62060546875,
                        "y": 4264.8916015625,
                        "z": 361.3863525390625
                    },
                    "rotation": {
                        "roll": -0.004669191315770149,
                        "pitch": -0.4435388147830963,
                        "yaw": -170.33114624023438
                    }
                },
                "velocity": {
                    "x": -5.505000591278076,
                    "y": -0.9399697184562683,
                    "z": -0.0520487055182457
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.916853189468384,
                "transform": {
                    "location": {
                        "x": 3009.497802734375,
                        "y": 4268.5087890625,
                        "z": 361.4007263183594
                    },
                    "rotation": {
                        "roll": -0.0025329620111733675,
                        "pitch": -0.5155631303787231,
                        "yaw": -170.3411102294922
                    }
                },
                "velocity": {
                    "x": -2.8750009536743164,
                    "y": -0.49163252115249634,
                    "z": -0.026447458192706108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0014416709309443831,
        "expert_target_speed": 2.704445491171743,
        "target_point": [
            50.44703923583838,
            0.034793865586479455
        ],
        "target_point_next": [
            101.44708457721947,
            0.07001477608604567
        ]
    },
    "40": {
        "acceleration": [
            -2.79996395111084,
            -0.5401355028152466,
            -0.024732202291488647
        ],
        "angular_velocity": [
            -0.09253984689712524,
            0.16704662144184113,
            -0.3354332447052002
        ],
        "forward_vector": [
            -0.9871838092803955,
            -0.15951138734817505,
            -0.004935840144753456
        ],
        "right_vector": [
            0.1595124453306198,
            -0.9871959090232849,
            0.00017949484754353762
        ],
        "location": [
            3040.25341796875,
            4270.2109375,
            361.6949462890625
        ],
        "rotation": [
            -0.01028442196547985,
            -0.2828039526939392,
            -170.82135009765625
        ],
        "velocity": [
            -2.2871642112731934,
            -0.38181883096694946,
            -0.02178235910832882
        ],
        "speed": 2.3188155918506967,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.58728790283203,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3021.912353515625,
                4267.19873046875,
                361.55615234375
            ],
            "velocity": [
                -5.464003086090088,
                -0.9341982007026672,
                -0.052763257175683975
            ],
            "speed_kmh": 19.95674537436915,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.5435404777526855,
                "transform": {
                    "location": {
                        "x": 3021.912353515625,
                        "y": 4267.19873046875,
                        "z": 361.55615234375
                    },
                    "rotation": {
                        "roll": -0.0056762718595564365,
                        "pitch": -0.49817347526550293,
                        "yaw": -170.3419647216797
                    }
                },
                "velocity": {
                    "x": -5.464003086090088,
                    "y": -0.9341982007026672,
                    "z": -0.052763257175683975
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.727931499481201,
                "transform": {
                    "location": {
                        "x": 2975.173095703125,
                        "y": 4269.59130859375,
                        "z": 361.0881042480469
                    },
                    "rotation": {
                        "roll": 0.006483172997832298,
                        "pitch": 0.5000995993614197,
                        "yaw": 9.861612319946289
                    }
                },
                "velocity": {
                    "x": 6.631215572357178,
                    "y": 1.135314702987671,
                    "z": 0.05570239946246147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8362390995025635,
                "transform": {
                    "location": {
                        "x": 3021.684326171875,
                        "y": 4270.46240234375,
                        "z": 361.561279296875
                    },
                    "rotation": {
                        "roll": -0.010070799849927425,
                        "pitch": -0.7966868877410889,
                        "yaw": -169.85350036621094
                    }
                },
                "velocity": {
                    "x": -1.812439203262329,
                    "y": -0.294080525636673,
                    "z": -0.018844613805413246
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.521064758300781,
                "transform": {
                    "location": {
                        "x": 2975.539306640625,
                        "y": 4266.35986328125,
                        "z": 361.1007995605469
                    },
                    "rotation": {
                        "roll": 0.008556390181183815,
                        "pitch": 0.5142722129821777,
                        "yaw": 9.83261775970459
                    }
                },
                "velocity": {
                    "x": 6.422488212585449,
                    "y": 1.1281296014785767,
                    "z": 0.05703934654593468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.836638450622559,
                "transform": {
                    "location": {
                        "x": 3005.931396484375,
                        "y": 4264.603515625,
                        "z": 361.3704528808594
                    },
                    "rotation": {
                        "roll": -0.005584715865552425,
                        "pitch": -0.17135578393936157,
                        "yaw": -170.31471252441406
                    }
                },
                "velocity": {
                    "x": -7.724248886108398,
                    "y": -1.3204315900802612,
                    "z": -0.07308011502027512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5690767765045166,
                "transform": {
                    "location": {
                        "x": 3008.698974609375,
                        "y": 4268.37255859375,
                        "z": 361.3932189941406
                    },
                    "rotation": {
                        "roll": -0.004119879100471735,
                        "pitch": -0.5122914910316467,
                        "yaw": -170.32687377929688
                    }
                },
                "velocity": {
                    "x": -3.5179519653320312,
                    "y": -0.6010147333145142,
                    "z": -0.033245451748371124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.001691143959760666,
        "expert_target_speed": 3.3847622299979867,
        "target_point": [
            49.951843114048174,
            0.010686414698627189
        ],
        "target_point_next": [
            100.95189932939948,
            0.022147936030576076
        ]
    },
    "45": {
        "acceleration": [
            -2.4347734451293945,
            -0.41418373584747314,
            -0.02787873148918152
        ],
        "angular_velocity": [
            -0.03968370705842972,
            -0.02350492775440216,
            1.0412545204162598
        ],
        "forward_vector": [
            -0.9868696331977844,
            -0.16144630312919617,
            -0.004842023365199566
        ],
        "right_vector": [
            0.1614474505186081,
            -0.9868813157081604,
            0.0001544615370221436
        ],
        "location": [
            3039.60107421875,
            4270.1025390625,
            361.68853759765625
        ],
        "rotation": [
            -0.008850098587572575,
            -0.27742859721183777,
            -170.7090301513672
        ],
        "velocity": [
            -2.894749879837036,
            -0.4829404056072235,
            -0.027491463348269463
        ],
        "speed": 2.9347586446221783,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.6168270111084,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3020.24560546875,
                4266.91455078125,
                361.5386962890625
            ],
            "velocity": [
                -7.850902557373047,
                -1.3150982856750488,
                -0.07596289366483688
            ],
            "speed_kmh": 28.65833466489733,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.960648536682129,
                "transform": {
                    "location": {
                        "x": 3020.24560546875,
                        "y": 4266.91455078125,
                        "z": 361.5386962890625
                    },
                    "rotation": {
                        "roll": 0.0028260210528969765,
                        "pitch": -0.34179630875587463,
                        "yaw": -170.35525512695312
                    }
                },
                "velocity": {
                    "x": -7.850902557373047,
                    "y": -1.3150982856750488,
                    "z": -0.07596289366483688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.609936237335205,
                "transform": {
                    "location": {
                        "x": 2976.686279296875,
                        "y": 4269.84912109375,
                        "z": 361.1017761230469
                    },
                    "rotation": {
                        "roll": 0.0061948648653924465,
                        "pitch": 0.4492078423500061,
                        "yaw": 9.673822402954102
                    }
                },
                "velocity": {
                    "x": 5.531227111816406,
                    "y": 0.9351521134376526,
                    "z": 0.04902298003435135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4300953149795532,
                "transform": {
                    "location": {
                        "x": 3021.501220703125,
                        "y": 4270.431640625,
                        "z": 361.5584716796875
                    },
                    "rotation": {
                        "roll": -0.012634276412427425,
                        "pitch": -0.6743172407150269,
                        "yaw": -169.8253936767578
                    }
                },
                "velocity": {
                    "x": -1.4092298746109009,
                    "y": -0.24308936297893524,
                    "z": -0.012298564426600933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4365010261535645,
                "transform": {
                    "location": {
                        "x": 2977.149658203125,
                        "y": 4266.63427734375,
                        "z": 361.115234375
                    },
                    "rotation": {
                        "roll": -0.0013122595846652985,
                        "pitch": 0.5146957039833069,
                        "yaw": 9.697522163391113
                    }
                },
                "velocity": {
                    "x": 6.34676456451416,
                    "y": 1.0695579051971436,
                    "z": 0.056291330605745316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.37605094909668,
                "transform": {
                    "location": {
                        "x": 3004.052734375,
                        "y": 4264.28564453125,
                        "z": 361.35260009765625
                    },
                    "rotation": {
                        "roll": 0.00825855229049921,
                        "pitch": -0.5043343305587769,
                        "yaw": -170.41943359375
                    }
                },
                "velocity": {
                    "x": -7.274331092834473,
                    "y": -1.2187845706939697,
                    "z": -0.06923671811819077
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.438353061676025,
                "transform": {
                    "location": {
                        "x": 3007.7119140625,
                        "y": 4268.2041015625,
                        "z": 361.3839111328125
                    },
                    "rotation": {
                        "roll": -0.004364010877907276,
                        "pitch": -0.5060964822769165,
                        "yaw": -170.3145751953125
                    }
                },
                "velocity": {
                    "x": -4.374701976776123,
                    "y": -0.74786376953125,
                    "z": -0.040728483349084854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0060572936199605465,
        "expert_target_speed": 4.014073676830725,
        "target_point": [
            49.290481538535104,
            -0.08891343021813292
        ],
        "target_point_next": [
            100.29046219079989,
            -0.17745045118896385
        ]
    },
    "50": {
        "acceleration": [
            -3.470134735107422,
            -0.557941198348999,
            -0.03023095428943634
        ],
        "angular_velocity": [
            -0.020059244707226753,
            0.276278018951416,
            0.11634255200624466
        ],
        "forward_vector": [
            -0.9865339994430542,
            -0.16349972784519196,
            -0.004304633475840092
        ],
        "right_vector": [
            0.16350017488002777,
            -0.9865432381629944,
            0.0002471389889251441
        ],
        "location": [
            3038.7861328125,
            4269.96533203125,
            361.6805419921875
        ],
        "rotation": [
            -0.014160150662064552,
            -0.24663811922073364,
            -170.58982849121094
        ],
        "velocity": [
            -3.6406185626983643,
            -0.6158127188682556,
            -0.03545239940285683
        ],
        "speed": 3.6923337909490006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.742046356201172,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3018.32080078125,
                4266.59228515625,
                361.5216979980469
            ],
            "velocity": [
                -7.297953128814697,
                -1.2138038873672485,
                -0.0708291232585907
            ],
            "speed_kmh": 26.63475917661676,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.3985443115234375,
                "transform": {
                    "location": {
                        "x": 3018.32080078125,
                        "y": 4266.59228515625,
                        "z": 361.5216979980469
                    },
                    "rotation": {
                        "roll": 0.0013434926513582468,
                        "pitch": -0.5260065197944641,
                        "yaw": -170.5050811767578
                    }
                },
                "velocity": {
                    "x": -7.297953128814697,
                    "y": -1.2138038873672485,
                    "z": -0.0708291232585907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.830045223236084,
                "transform": {
                    "location": {
                        "x": 2978.054931640625,
                        "y": 4270.0810546875,
                        "z": 361.11370849609375
                    },
                    "rotation": {
                        "roll": 0.004833979066461325,
                        "pitch": 0.5080021023750305,
                        "yaw": 9.590056419372559
                    }
                },
                "velocity": {
                    "x": 5.748495578765869,
                    "y": 0.9702595472335815,
                    "z": 0.05313551798462868
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.802926778793335,
                "transform": {
                    "location": {
                        "x": 3020.96240234375,
                        "y": 4270.33837890625,
                        "z": 361.5513610839844
                    },
                    "rotation": {
                        "roll": -0.006988525856286287,
                        "pitch": -0.45327866077423096,
                        "yaw": -169.9298858642578
                    }
                },
                "velocity": {
                    "x": -2.762193202972412,
                    "y": -0.4753711223602295,
                    "z": -0.026649340987205505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.933441638946533,
                "transform": {
                    "location": {
                        "x": 2978.645263671875,
                        "y": 4266.88720703125,
                        "z": 361.128662109375
                    },
                    "rotation": {
                        "roll": 0.0021919335704296827,
                        "pitch": 0.5473303198814392,
                        "yaw": 9.615220069885254
                    }
                },
                "velocity": {
                    "x": 5.850862979888916,
                    "y": 0.9850106835365295,
                    "z": 0.0537276454269886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.854248523712158,
                "transform": {
                    "location": {
                        "x": 3002.309326171875,
                        "y": 4263.9951171875,
                        "z": 361.33624267578125
                    },
                    "rotation": {
                        "roll": 0.004009652882814407,
                        "pitch": -0.6115682721138,
                        "yaw": -170.5224609375
                    }
                },
                "velocity": {
                    "x": -6.761000633239746,
                    "y": -1.1249277591705322,
                    "z": -0.06426351517438889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2813825607299805,
                "transform": {
                    "location": {
                        "x": 3006.494873046875,
                        "y": 4267.99609375,
                        "z": 361.3726501464844
                    },
                    "rotation": {
                        "roll": -0.004547120071947575,
                        "pitch": -0.503111720085144,
                        "yaw": -170.30870056152344
                    }
                },
                "velocity": {
                    "x": -5.205748558044434,
                    "y": -0.8893251419067383,
                    "z": -0.04777543619275093
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.013310874812304974,
        "expert_target_speed": 4.753006749125989,
        "target_point": [
            48.46378152531972,
            -0.1935759270217572
        ],
        "target_point_next": [
            99.46346761185755,
            -0.3882151061803647
        ]
    },
    "55": {
        "acceleration": [
            -3.3495426177978516,
            -0.3667259216308594,
            -0.04245392978191376
        ],
        "angular_velocity": [
            0.1463048756122589,
            0.10772029310464859,
            -1.190872073173523
        ],
        "forward_vector": [
            -0.9868813157081604,
            -0.16141320765018463,
            -0.00331401196308434
        ],
        "right_vector": [
            0.16141609847545624,
            -0.986886203289032,
            -0.0006246782722882926
        ],
        "location": [
            3037.76025390625,
            4269.798828125,
            361.6703186035156
        ],
        "rotation": [
            0.03579162806272507,
            -0.18987925350666046,
            -170.7110137939453
        ],
        "velocity": [
            -4.514512062072754,
            -0.7101061344146729,
            -0.04345451667904854
        ],
        "speed": 4.570018586475742,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.41691017150879,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3016.6298828125,
                4266.31103515625,
                361.506591796875
            ],
            "velocity": [
                -5.975558757781982,
                -0.9913451671600342,
                -0.05731794238090515
            ],
            "speed_kmh": 21.807013908112037,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.057503700256348,
                "transform": {
                    "location": {
                        "x": 3016.6298828125,
                        "y": 4266.31103515625,
                        "z": 361.506591796875
                    },
                    "rotation": {
                        "roll": -0.0016784709878265858,
                        "pitch": -0.652522087097168,
                        "yaw": -170.54563903808594
                    }
                },
                "velocity": {
                    "x": -5.975558757781982,
                    "y": -0.9913451671600342,
                    "z": -0.05731794238090515
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.218418598175049,
                "transform": {
                    "location": {
                        "x": 2979.587646484375,
                        "y": 4270.33984375,
                        "z": 361.12713623046875
                    },
                    "rotation": {
                        "roll": 0.004345638211816549,
                        "pitch": 0.5944176912307739,
                        "yaw": 9.563664436340332
                    }
                },
                "velocity": {
                    "x": 7.117849349975586,
                    "y": 1.1989516019821167,
                    "z": 0.06557387858629227
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.224606513977051,
                "transform": {
                    "location": {
                        "x": 3020.087158203125,
                        "y": 4270.18701171875,
                        "z": 361.54254150390625
                    },
                    "rotation": {
                        "roll": -0.004974365700036287,
                        "pitch": -0.4045999050140381,
                        "yaw": -170.0524444580078
                    }
                },
                "velocity": {
                    "x": -4.163418292999268,
                    "y": -0.7152887582778931,
                    "z": -0.040157850831747055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.754392147064209,
                "transform": {
                    "location": {
                        "x": 2980.195556640625,
                        "y": 4267.1484375,
                        "z": 361.14349365234375
                    },
                    "rotation": {
                        "roll": 0.0011358358897268772,
                        "pitch": 0.461932510137558,
                        "yaw": 9.565065383911133
                    }
                },
                "velocity": {
                    "x": 6.660643100738525,
                    "y": 1.1197885274887085,
                    "z": 0.06101199984550476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.430923938751221,
                "transform": {
                    "location": {
                        "x": 3000.5693359375,
                        "y": 4263.7060546875,
                        "z": 361.31988525390625
                    },
                    "rotation": {
                        "roll": 0.0053873308934271336,
                        "pitch": -0.4635307490825653,
                        "yaw": -170.5765380859375
                    }
                },
                "velocity": {
                    "x": -7.331452369689941,
                    "y": -1.2098560333251953,
                    "z": -0.06842640042304993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.6701979637146,
                "transform": {
                    "location": {
                        "x": 3005.16552734375,
                        "y": 4267.76904296875,
                        "z": 361.3601379394531
                    },
                    "rotation": {
                        "roll": -0.004852290265262127,
                        "pitch": -0.5178853869438171,
                        "yaw": -170.299560546875
                    }
                },
                "velocity": {
                    "x": -5.58872127532959,
                    "y": -0.9563068151473999,
                    "z": -0.05308305472135544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005608605686575174,
        "expert_target_speed": 5.5746789640462415,
        "target_point": [
            47.42478017200465,
            -0.08979192192931063
        ],
        "target_point_next": [
            98.42476387526688,
            -0.17655367878034944
        ]
    },
    "60": {
        "acceleration": [
            0.2008342742919922,
            0.10593414306640625,
            -0.03580950200557709
        ],
        "angular_velocity": [
            0.06359805911779404,
            -0.8887016773223877,
            -0.8506212830543518
        ],
        "forward_vector": [
            -0.9878017902374268,
            -0.15567298233509064,
            -0.003667226992547512
        ],
        "right_vector": [
            0.15567702054977417,
            -0.9878076314926147,
            -0.00084325933130458
        ],
        "location": [
            3036.530517578125,
            4269.6083984375,
            361.6588134765625
        ],
        "rotation": [
            0.048315536230802536,
            -0.21011710166931152,
            -171.0441131591797
        ],
        "velocity": [
            -5.15076208114624,
            -0.7809691429138184,
            -0.04940304160118103
        ],
        "speed": 5.209631735425979,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.578737258911133,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3015.242431640625,
                4266.08251953125,
                361.4930725097656
            ],
            "velocity": [
                -5.389399528503418,
                -0.8850114345550537,
                -0.05214647203683853
            ],
            "speed_kmh": 19.662589589392045,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.4618306159973145,
                "transform": {
                    "location": {
                        "x": 3015.242431640625,
                        "y": 4266.08251953125,
                        "z": 361.4930725097656
                    },
                    "rotation": {
                        "roll": -0.0008239751914516091,
                        "pitch": -0.6334248781204224,
                        "yaw": -170.49427795410156
                    }
                },
                "velocity": {
                    "x": -5.389399528503418,
                    "y": -0.8850114345550537,
                    "z": -0.05214647203683853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.444936752319336,
                "transform": {
                    "location": {
                        "x": 2981.593994140625,
                        "y": 4270.6748046875,
                        "z": 361.1455078125
                    },
                    "rotation": {
                        "roll": 0.005476285703480244,
                        "pitch": 0.6114726662635803,
                        "yaw": 9.428919792175293
                    }
                },
                "velocity": {
                    "x": 8.331902503967285,
                    "y": 1.3749901056289673,
                    "z": 0.07595103979110718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.326927661895752,
                "transform": {
                    "location": {
                        "x": 3018.8837890625,
                        "y": 4269.9833984375,
                        "z": 361.5312805175781
                    },
                    "rotation": {
                        "roll": 0.0012533790431916714,
                        "pitch": -0.41412118077278137,
                        "yaw": -170.28855895996094
                    }
                },
                "velocity": {
                    "x": -5.254150390625,
                    "y": -0.8761183619499207,
                    "z": -0.04974845424294472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.705682754516602,
                "transform": {
                    "location": {
                        "x": 2981.94140625,
                        "y": 4267.43798828125,
                        "z": 361.1597595214844
                    },
                    "rotation": {
                        "roll": -0.0006103526102378964,
                        "pitch": 0.4384229779243469,
                        "yaw": 9.472585678100586
                    }
                },
                "velocity": {
                    "x": 7.60267448425293,
                    "y": 1.2537405490875244,
                    "z": 0.07084234058856964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.73170280456543,
                "transform": {
                    "location": {
                        "x": 2998.574951171875,
                        "y": 4263.37841796875,
                        "z": 361.30133056640625
                    },
                    "rotation": {
                        "roll": 0.0058281696401536465,
                        "pitch": -0.3079800307750702,
                        "yaw": -170.6666717529297
                    }
                },
                "velocity": {
                    "x": -8.616286277770996,
                    "y": -1.4127341508865356,
                    "z": -0.08014414459466934
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.865932464599609,
                "transform": {
                    "location": {
                        "x": 3003.608154296875,
                        "y": 4267.50537109375,
                        "z": 361.34521484375
                    },
                    "rotation": {
                        "roll": -0.0008850165759213269,
                        "pitch": -0.4988701641559601,
                        "yaw": -170.44146728515625
                    }
                },
                "velocity": {
                    "x": -6.771717548370361,
                    "y": -1.131726622581482,
                    "z": -0.06373156607151031
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014613883569836617,
        "expert_target_speed": 6.153137991772358,
        "target_point": [
            46.18011182336442,
            0.18924644370623245
        ],
        "target_point_next": [
            97.17973807732804,
            0.3989779184244675
        ]
    },
    "65": {
        "acceleration": [
            -0.09967803955078125,
            0.05301713943481445,
            0.0007299333810806274
        ],
        "angular_velocity": [
            0.031005248427391052,
            -0.5299692153930664,
            -0.8817628622055054
        ],
        "forward_vector": [
            -0.9884189963340759,
            -0.1515197902917862,
            -0.008341453969478607
        ],
        "right_vector": [
            0.15152959525585175,
            -0.9884524941444397,
            -0.0005531632341444492
        ],
        "location": [
            3035.275634765625,
            4269.41845703125,
            361.64764404296875
        ],
        "rotation": [
            0.03169502317905426,
            -0.47793564200401306,
            -171.28468322753906
        ],
        "velocity": [
            -4.9687933921813965,
            -0.7424194812774658,
            -0.04869300127029419
        ],
        "speed": 5.023952075842863,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.710233688354492,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3013.860595703125,
                4265.8544921875,
                361.47894287109375
            ],
            "velocity": [
                -5.606325626373291,
                -0.919348955154419,
                -0.05317694693803787
            ],
            "speed_kmh": 20.453233691540056,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.681453704833984,
                "transform": {
                    "location": {
                        "x": 3013.860595703125,
                        "y": 4265.8544921875,
                        "z": 361.47894287109375
                    },
                    "rotation": {
                        "roll": -0.0011291499249637127,
                        "pitch": -0.5442841053009033,
                        "yaw": -170.60073852539062
                    }
                },
                "velocity": {
                    "x": -5.606325626373291,
                    "y": -0.919348955154419,
                    "z": -0.05317694693803787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9013352394104,
                "transform": {
                    "location": {
                        "x": 2983.607177734375,
                        "y": 4271.00732421875,
                        "z": 361.164794921875
                    },
                    "rotation": {
                        "roll": 0.0020852836314588785,
                        "pitch": 0.5177692770957947,
                        "yaw": 9.3861083984375
                    }
                },
                "velocity": {
                    "x": 7.795605182647705,
                    "y": 1.2862521409988403,
                    "z": 0.07204889506101608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.571876049041748,
                "transform": {
                    "location": {
                        "x": 3017.548095703125,
                        "y": 4269.7587890625,
                        "z": 361.5188903808594
                    },
                    "rotation": {
                        "roll": 0.0024850782938301563,
                        "pitch": -0.47909677028656006,
                        "yaw": -170.52804565429688
                    }
                },
                "velocity": {
                    "x": -5.496185302734375,
                    "y": -0.9137653112411499,
                    "z": -0.05275546386837959
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.577693939208984,
                "transform": {
                    "location": {
                        "x": 2984.03369140625,
                        "y": 4267.783203125,
                        "z": 361.1791687011719
                    },
                    "rotation": {
                        "roll": 0.001078783767297864,
                        "pitch": 0.43315690755844116,
                        "yaw": 9.384777069091797
                    }
                },
                "velocity": {
                    "x": 8.463228225708008,
                    "y": 1.3943628072738647,
                    "z": 0.07974538952112198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.883030891418457,
                "transform": {
                    "location": {
                        "x": 2996.329833984375,
                        "y": 4263.01123046875,
                        "z": 361.2804260253906
                    },
                    "rotation": {
                        "roll": 0.004359028302133083,
                        "pitch": -0.26675301790237427,
                        "yaw": -170.70355224609375
                    }
                },
                "velocity": {
                    "x": -9.75305461883545,
                    "y": -1.5949677228927612,
                    "z": -0.09109702706336975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.525999069213867,
                "transform": {
                    "location": {
                        "x": 3001.799072265625,
                        "y": 4267.203125,
                        "z": 361.3282470703125
                    },
                    "rotation": {
                        "roll": -0.0012206998653709888,
                        "pitch": -0.5032073259353638,
                        "yaw": -170.5674285888672
                    }
                },
                "velocity": {
                    "x": -7.423962116241455,
                    "y": -1.2331656217575073,
                    "z": -0.06892706453800201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03415955230593681,
        "expert_target_speed": 5.9899594575807384,
        "target_point": [
            44.909735968140474,
            0.38555327140374374
        ],
        "target_point_next": [
            95.90803194848468,
            0.8094311272453609
        ]
    },
    "70": {
        "acceleration": [
            -0.2274036407470703,
            -0.18178701400756836,
            0.0013365596532821655
        ],
        "angular_velocity": [
            -0.12817518413066864,
            -0.397041916847229,
            0.23008574545383453
        ],
        "forward_vector": [
            -0.9886877536773682,
            -0.14978167414665222,
            -0.007874883711338043
        ],
        "right_vector": [
            0.14978694915771484,
            -0.9887182712554932,
            -7.96016538515687e-05
        ],
        "location": [
            3033.963623046875,
            4269.220703125,
            361.6347961425781
        ],
        "rotation": [
            0.004560980014503002,
            -0.45120227336883545,
            -171.3854522705078
        ],
        "velocity": [
            -5.303909778594971,
            -0.8079518675804138,
            -0.05233706906437874
        ],
        "speed": 5.36509507462841,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.146869659423828,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3012.12060546875,
                4265.56884765625,
                361.4605712890625
            ],
            "velocity": [
                -8.08765983581543,
                -1.3231933116912842,
                -0.07651953399181366
            ],
            "speed_kmh": 29.50395750897961,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.19554328918457,
                "transform": {
                    "location": {
                        "x": 3012.12060546875,
                        "y": 4265.56884765625,
                        "z": 361.4605712890625
                    },
                    "rotation": {
                        "roll": 0.00043416180415079,
                        "pitch": -0.34591490030288696,
                        "yaw": -170.67166137695312
                    }
                },
                "velocity": {
                    "x": -8.08765983581543,
                    "y": -1.3231933116912842,
                    "z": -0.07651953399181366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033394813537598,
                "transform": {
                    "location": {
                        "x": 2985.555908203125,
                        "y": 4271.32763671875,
                        "z": 361.1828918457031
                    },
                    "rotation": {
                        "roll": 0.00358365336433053,
                        "pitch": 0.533909022808075,
                        "yaw": 9.319188117980957
                    }
                },
                "velocity": {
                    "x": 7.927983283996582,
                    "y": 1.2950496673583984,
                    "z": 0.07318521291017532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.732050895690918,
                "transform": {
                    "location": {
                        "x": 3015.94677734375,
                        "y": 4269.49267578125,
                        "z": 361.5023498535156
                    },
                    "rotation": {
                        "roll": -0.0005493169301189482,
                        "pitch": -0.3509214520454407,
                        "yaw": -170.53663635253906
                    }
                },
                "velocity": {
                    "x": -7.627211570739746,
                    "y": -1.2668824195861816,
                    "z": -0.07257672399282455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.880964756011963,
                "transform": {
                    "location": {
                        "x": 2986.05615234375,
                        "y": 4268.1162109375,
                        "z": 361.1970520019531
                    },
                    "rotation": {
                        "roll": -0.0012817473616451025,
                        "pitch": 0.5689274072647095,
                        "yaw": 9.340813636779785
                    }
                },
                "velocity": {
                    "x": 7.777492523193359,
                    "y": 1.2708028554916382,
                    "z": 0.0726068839430809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.183012008666992,
                "transform": {
                    "location": {
                        "x": 2993.713623046875,
                        "y": 4262.58447265625,
                        "z": 361.2560119628906
                    },
                    "rotation": {
                        "roll": 0.006014486309140921,
                        "pitch": -0.2555310130119324,
                        "yaw": -170.74842834472656
                    }
                },
                "velocity": {
                    "x": -11.037313461303711,
                    "y": -1.7963160276412964,
                    "z": -0.10349822044372559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.179142951965332,
                "transform": {
                    "location": {
                        "x": 2999.701416015625,
                        "y": 4266.85498046875,
                        "z": 361.3084411621094
                    },
                    "rotation": {
                        "roll": 0.0006476534181274474,
                        "pitch": -0.48046964406967163,
                        "yaw": -170.6295623779297
                    }
                },
                "velocity": {
                    "x": -9.05632209777832,
                    "y": -1.494171142578125,
                    "z": -0.08457589149475098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05156273394823074,
        "expert_target_speed": 6.322816581466247,
        "target_point": [
            43.58215777568073,
            0.46550731152316693
        ],
        "target_point_next": [
            94.57962972177398,
            0.9790444989746021
        ]
    },
    "75": {
        "acceleration": [
            0.39198875427246094,
            0.024858713150024414,
            0.0104445219039917
        ],
        "angular_velocity": [
            0.039406754076480865,
            -0.20540381968021393,
            0.4751070737838745
        ],
        "forward_vector": [
            -0.9883904457092285,
            -0.1516791731119156,
            -0.008822326548397541
        ],
        "right_vector": [
            0.15168346464633942,
            -0.9884291291236877,
            0.00018428356270305812
        ],
        "location": [
            3032.6337890625,
            4269.01611328125,
            361.62200927734375
        ],
        "rotation": [
            -0.010559081099927425,
            -0.5054886341094971,
            -171.27540588378906
        ],
        "velocity": [
            -5.3400139808654785,
            -0.8292827606201172,
            -0.052231620997190475
        ],
        "speed": 5.404022502997234,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.010967254638672,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3009.940185546875,
                4265.2119140625,
                361.4401550292969
            ],
            "velocity": [
                -9.364490509033203,
                -1.5256706476211548,
                -0.08915084600448608
            ],
            "speed_kmh": 34.1581578066791,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.48837661743164,
                "transform": {
                    "location": {
                        "x": 3009.940185546875,
                        "y": 4265.2119140625,
                        "z": 361.4401550292969
                    },
                    "rotation": {
                        "roll": 0.0014514856738969684,
                        "pitch": -0.37173303961753845,
                        "yaw": -170.7124786376953
                    }
                },
                "velocity": {
                    "x": -9.364490509033203,
                    "y": -1.5256706476211548,
                    "z": -0.08915084600448608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.104253768920898,
                "transform": {
                    "location": {
                        "x": 2987.559814453125,
                        "y": 4271.6552734375,
                        "z": 361.2015075683594
                    },
                    "rotation": {
                        "roll": 0.003316671820357442,
                        "pitch": 0.5356712341308594,
                        "yaw": 9.296609878540039
                    }
                },
                "velocity": {
                    "x": 7.997822284698486,
                    "y": 1.3068863153457642,
                    "z": 0.07629178464412689
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.138267517089844,
                "transform": {
                    "location": {
                        "x": 3013.84716796875,
                        "y": 4269.14501953125,
                        "z": 361.48236083984375
                    },
                    "rotation": {
                        "roll": 0.004032312426716089,
                        "pitch": -0.37490907311439514,
                        "yaw": -170.6173095703125
                    }
                },
                "velocity": {
                    "x": -9.017318725585938,
                    "y": -1.4793215990066528,
                    "z": -0.08666278421878815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982544898986816,
                "transform": {
                    "location": {
                        "x": 2987.99560546875,
                        "y": 4268.43310546875,
                        "z": 361.2154846191406
                    },
                    "rotation": {
                        "roll": -9.155115549219772e-05,
                        "pitch": 0.5318121314048767,
                        "yaw": 9.286884307861328
                    }
                },
                "velocity": {
                    "x": 7.8780412673950195,
                    "y": 1.2853672504425049,
                    "z": 0.07295339554548264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.52319622039795,
                "transform": {
                    "location": {
                        "x": 2990.864501953125,
                        "y": 4262.12060546875,
                        "z": 361.2293395996094
                    },
                    "rotation": {
                        "roll": 0.0010926448740065098,
                        "pitch": -0.410979300737381,
                        "yaw": -170.7582550048828
                    }
                },
                "velocity": {
                    "x": -11.37319564819336,
                    "y": -1.8501638174057007,
                    "z": -0.1066337302327156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.910741806030273,
                "transform": {
                    "location": {
                        "x": 2997.340576171875,
                        "y": 4266.46630859375,
                        "z": 361.28656005859375
                    },
                    "rotation": {
                        "roll": 0.0013126200065016747,
                        "pitch": -0.4991433620452881,
                        "yaw": -170.69253540039062
                    }
                },
                "velocity": {
                    "x": -9.780029296875,
                    "y": -1.6017271280288696,
                    "z": -0.09116154164075851
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05133065581321716,
        "expert_target_speed": 6.375484079675655,
        "target_point": [
            42.237491770921025,
            0.3813123046141218
        ],
        "target_point_next": [
            93.23585580207734,
            0.7969220748615946
        ]
    },
    "80": {
        "acceleration": [
            -3.459749221801758,
            -0.612485408782959,
            -0.025488436222076416
        ],
        "angular_velocity": [
            -0.12394095212221146,
            0.5764628052711487,
            0.5517228245735168
        ],
        "forward_vector": [
            -0.9880627989768982,
            -0.15398211777210236,
            -0.0046254233457148075
        ],
        "right_vector": [
            0.15398241579532623,
            -0.988073468208313,
            0.00028921617195010185
        ],
        "location": [
            3031.16357421875,
            4268.78662109375,
            361.6068420410156
        ],
        "rotation": [
            -0.01657104305922985,
            -0.26501816511154175,
            -171.1421356201172
        ],
        "velocity": [
            -6.38132905960083,
            -1.0066454410552979,
            -0.061292365193367004
        ],
        "speed": 6.460239593924008,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.000850677490234,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3007.49462890625,
                4264.8134765625,
                361.41729736328125
            ],
            "velocity": [
                -10.47066593170166,
                -1.7020183801651,
                -0.09826303273439407
            ],
            "speed_kmh": 38.19078579282475,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.608551979064941,
                "transform": {
                    "location": {
                        "x": 3007.49462890625,
                        "y": 4264.8134765625,
                        "z": 361.41729736328125
                    },
                    "rotation": {
                        "roll": 0.0015868301270529628,
                        "pitch": -0.3994157910346985,
                        "yaw": -170.75889587402344
                    }
                },
                "velocity": {
                    "x": -10.47066593170166,
                    "y": -1.7020183801651,
                    "z": -0.09826303273439407
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.991312026977539,
                "transform": {
                    "location": {
                        "x": 2989.53955078125,
                        "y": 4271.978515625,
                        "z": 361.22015380859375
                    },
                    "rotation": {
                        "roll": 0.0009215972968377173,
                        "pitch": 0.5254669189453125,
                        "yaw": 9.246190071105957
                    }
                },
                "velocity": {
                    "x": 7.886780261993408,
                    "y": 1.2862330675125122,
                    "z": 0.07328969985246658
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.189459800720215,
                "transform": {
                    "location": {
                        "x": 3011.436279296875,
                        "y": 4268.74951171875,
                        "z": 361.4595947265625
                    },
                    "rotation": {
                        "roll": 0.0014203325845301151,
                        "pitch": -0.4123794734477997,
                        "yaw": -170.6959991455078
                    }
                },
                "velocity": {
                    "x": -10.055341720581055,
                    "y": -1.645033359527588,
                    "z": -0.0952465608716011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.081396102905273,
                "transform": {
                    "location": {
                        "x": 2989.98779296875,
                        "y": 4268.75830078125,
                        "z": 361.234130859375
                    },
                    "rotation": {
                        "roll": 0.0011764700757339597,
                        "pitch": 0.511328399181366,
                        "yaw": 9.268107414245605
                    }
                },
                "velocity": {
                    "x": 7.975557804107666,
                    "y": 1.301482081413269,
                    "z": 0.07472065091133118
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.550114631652832,
                "transform": {
                    "location": {
                        "x": 2988.15869140625,
                        "y": 4261.681640625,
                        "z": 361.2040100097656
                    },
                    "rotation": {
                        "roll": 0.002931525930762291,
                        "pitch": -0.654140830039978,
                        "yaw": -170.7919158935547
                    }
                },
                "velocity": {
                    "x": -10.413735389709473,
                    "y": -1.6880367994308472,
                    "z": -0.09777230024337769
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.586466789245605,
                "transform": {
                    "location": {
                        "x": 2994.80859375,
                        "y": 4266.05224609375,
                        "z": 361.2629699707031
                    },
                    "rotation": {
                        "roll": 0.0005896536749787629,
                        "pitch": -0.5049421787261963,
                        "yaw": -170.76316833496094
                    }
                },
                "velocity": {
                    "x": -10.448217391967773,
                    "y": -1.7025337219238281,
                    "z": -0.09705758839845657
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05421808734536171,
        "expert_target_speed": 7.323368151397743,
        "target_point": [
            40.75024636452604,
            0.28268091353980473
        ],
        "target_point_next": [
            91.74943929065633,
            0.5796425588883984
        ]
    },
    "85": {
        "acceleration": [
            -1.4636611938476562,
            -0.2966141700744629,
            -0.013825446367263794
        ],
        "angular_velocity": [
            0.04834192246198654,
            -0.32919901609420776,
            0.6065439581871033
        ],
        "forward_vector": [
            -0.9876512289047241,
            -0.1565980166196823,
            -0.004694086499512196
        ],
        "right_vector": [
            0.15659794211387634,
            -0.9876623749732971,
            0.0003856215043924749
        ],
        "location": [
            3029.490478515625,
            4268.52099609375,
            361.5906677246094
        ],
        "rotation": [
            -0.02209472842514515,
            -0.268952339887619,
            -170.99041748046875
        ],
        "velocity": [
            -6.926319599151611,
            -1.1097410917282104,
            -0.06588193774223328
        ],
        "speed": 7.0146581157075545,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.994741439819336,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3004.841552734375,
                4264.38232421875,
                361.3932800292969
            ],
            "velocity": [
                -10.329227447509766,
                -1.6774784326553345,
                -0.09781163930892944
            ],
            "speed_kmh": 37.674037095839836,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.0595703125,
                        "y": 4265.494140625,
                        "z": 360.88873291015625
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2950.5791015625,
                        "y": 4262.28564453125,
                        "z": 360.88873291015625
                    },
                    "rotation": {
                        "roll": 6.6703056411654416e-09,
                        "pitch": 0.4428694546222687,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.465010643005371,
                "transform": {
                    "location": {
                        "x": 3004.841552734375,
                        "y": 4264.38232421875,
                        "z": 361.3932800292969
                    },
                    "rotation": {
                        "roll": 0.001093573053367436,
                        "pitch": -0.5056183934211731,
                        "yaw": -170.77560424804688
                    }
                },
                "velocity": {
                    "x": -10.329227447509766,
                    "y": -1.6774784326553345,
                    "z": -0.09781163930892944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068636894226074,
                "transform": {
                    "location": {
                        "x": 2991.521728515625,
                        "y": 4272.30126953125,
                        "z": 361.23858642578125
                    },
                    "rotation": {
                        "roll": 9.1474452347029e-05,
                        "pitch": 0.532187819480896,
                        "yaw": 9.256867408752441
                    }
                },
                "velocity": {
                    "x": 7.963704586029053,
                    "y": 1.294972538948059,
                    "z": 0.0732509046792984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.538643836975098,
                "transform": {
                    "location": {
                        "x": 3008.8818359375,
                        "y": 4268.33203125,
                        "z": 361.4358825683594
                    },
                    "rotation": {
                        "roll": 0.0010340888984501362,
                        "pitch": -0.47555190324783325,
                        "yaw": -170.7277069091797
                    }
                },
                "velocity": {
                    "x": -10.401126861572266,
                    "y": -1.694145917892456,
                    "z": -0.09718635678291321
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020015716552734,
                "transform": {
                    "location": {
                        "x": 2991.97265625,
                        "y": 4269.08154296875,
                        "z": 361.2525329589844
                    },
                    "rotation": {
                        "roll": 0.00042644160566851497,
                        "pitch": 0.5320648550987244,
                        "yaw": 9.246006965637207
                    }
                },
                "velocity": {
                    "x": 7.9155097007751465,
                    "y": 1.2882648706436157,
                    "z": 0.07567416876554489
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.6856050491333,
                "transform": {
                    "location": {
                        "x": 2985.62548828125,
                        "y": 4261.27099609375,
                        "z": 361.1803894042969
                    },
                    "rotation": {
                        "roll": 0.002168324077501893,
                        "pitch": -0.7094448804855347,
                        "yaw": -170.80325317382812
                    }
                },
                "velocity": {
                    "x": -9.560691833496094,
                    "y": -1.5479090213775635,
                    "z": -0.08993440121412277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.255416870117188,
                "transform": {
                    "location": {
                        "x": 2992.110595703125,
                        "y": 4265.61328125,
                        "z": 361.2377624511719
                    },
                    "rotation": {
                        "roll": 0.0005946998717263341,
                        "pitch": -0.506007730960846,
                        "yaw": -170.78663635253906
                    }
                },
                "velocity": {
                    "x": -11.109331130981445,
                    "y": -1.8045334815979004,
                    "z": -0.10403597354888916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05020856112241745,
        "expert_target_speed": 7.78639458374856,
        "target_point": [
            39.05680190850514,
            0.17443719645836175
        ],
        "target_point_next": [
            90.05660236757726,
            0.3363583818880844
        ]
    },
    "90": {
        "acceleration": [
            -1.7057132720947266,
            -0.3467702865600586,
            -0.018087774515151978
        ],
        "angular_velocity": [
            0.010733645409345627,
            -0.1882242113351822,
            0.6234888434410095
        ],
        "forward_vector": [
            -0.9872056841850281,
            -0.15934345126152039,
            -0.005886520259082317
        ],
        "right_vector": [
            0.159343421459198,
            -0.9872231483459473,
            0.00047776277642697096
        ],
        "location": [
            3027.705810546875,
            4268.23291015625,
            361.5736389160156
        ],
        "rotation": [
            -0.027374267578125,
            -0.3372747302055359,
            -170.8310546875
        ],
        "velocity": [
            -7.325934410095215,
            -1.1935310363769531,
            -0.07012759149074554
        ],
        "speed": 7.422521897294219,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.647214889526367,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3002.4130859375,
                4263.98828125,
                361.37164306640625
            ],
            "velocity": [
                -8.894186019897461,
                -1.4434351921081543,
                -0.08288745582103729
            ],
            "speed_kmh": 32.43936018036298,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.115966796875,
                        "y": 4265.826171875,
                        "z": 360.9046936035156
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.635498046875,
                        "y": 4262.61767578125,
                        "z": 360.9046936035156
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.010933876037598,
                "transform": {
                    "location": {
                        "x": 3002.4130859375,
                        "y": 4263.98828125,
                        "z": 361.37164306640625
                    },
                    "rotation": {
                        "roll": 0.00015097750292625278,
                        "pitch": -0.6479458808898926,
                        "yaw": -170.7820281982422
                    }
                },
                "velocity": {
                    "x": -8.894186019897461,
                    "y": -1.4434351921081543,
                    "z": -0.08288745582103729
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.039923667907715,
                "transform": {
                    "location": {
                        "x": 2993.510498046875,
                        "y": 4272.62451171875,
                        "z": 361.2571716308594
                    },
                    "rotation": {
                        "roll": 0.00012014374806312844,
                        "pitch": 0.5293054580688477,
                        "yaw": 9.208637237548828
                    }
                },
                "velocity": {
                    "x": 7.93557596206665,
                    "y": 1.28904128074646,
                    "z": 0.07334350049495697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.069767951965332,
                "transform": {
                    "location": {
                        "x": 3006.2158203125,
                        "y": 4267.89794921875,
                        "z": 361.410888671875
                    },
                    "rotation": {
                        "roll": 0.0010893308790400624,
                        "pitch": -0.4861455261707306,
                        "yaw": -170.76199340820312
                    }
                },
                "velocity": {
                    "x": -10.926078796386719,
                    "y": -1.7748535871505737,
                    "z": -0.1022767722606659
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992048263549805,
                "transform": {
                    "location": {
                        "x": 2993.94580078125,
                        "y": 4269.40234375,
                        "z": 361.2711181640625
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.5247156023979187,
                        "yaw": 9.231426239013672
                    }
                },
                "velocity": {
                    "x": 7.888672351837158,
                    "y": 1.2792373895645142,
                    "z": 0.07237301021814346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.682770729064941,
                "transform": {
                    "location": {
                        "x": 2983.272216796875,
                        "y": 4260.890625,
                        "z": 361.1585388183594
                    },
                    "rotation": {
                        "roll": 0.0030800900422036648,
                        "pitch": -0.5750404000282288,
                        "yaw": -170.84324645996094
                    }
                },
                "velocity": {
                    "x": -9.558401107788086,
                    "y": -1.544390320777893,
                    "z": -0.08883916586637497
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.920578002929688,
                "transform": {
                    "location": {
                        "x": 2989.247802734375,
                        "y": 4265.1484375,
                        "z": 361.2110595703125
                    },
                    "rotation": {
                        "roll": 0.0001202733619720675,
                        "pitch": -0.5054612755775452,
                        "yaw": -170.8076171875
                    }
                },
                "velocity": {
                    "x": -11.766640663146973,
                    "y": -1.9064245223999023,
                    "z": -0.10912685096263885
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.042061347514390945,
        "expert_target_speed": 8.100398018980751,
        "target_point": [
            37.24936576480461,
            0.06577968801747414
        ],
        "target_point_next": [
            88.24941931886049,
            0.08585003668862079
        ]
    },
    "95": {
        "acceleration": [
            -0.7844638824462891,
            -0.16999483108520508,
            -0.0010821223258972168
        ],
        "angular_velocity": [
            0.034932494163513184,
            -0.20158125460147858,
            0.24824580550193787
        ],
        "forward_vector": [
            -0.9869847893714905,
            -0.16067372262477875,
            -0.006700941827148199
        ],
        "right_vector": [
            0.16067543625831604,
            -0.987007200717926,
            0.00028282133280299604
        ],
        "location": [
            3025.833984375,
            4267.92822265625,
            361.55560302734375
        ],
        "rotation": [
            -0.01620483212172985,
            -0.38393858075141907,
            -170.7537841796875
        ],
        "velocity": [
            -7.627684116363525,
            -1.2460076808929443,
            -0.0727345198392868
        ],
        "speed": 7.728783870691988,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.887718200683594,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                3000.3037109375,
                4263.64599609375,
                361.3515930175781
            ],
            "velocity": [
                -8.344886779785156,
                -1.3517524003982544,
                -0.07870033383369446
            ],
            "speed_kmh": 30.43449531467567,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.708602428436279,
                "transform": {
                    "location": {
                        "x": 3040.90869140625,
                        "y": 4270.3173828125,
                        "z": 362.09234619140625
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -7.589210033416748,
                    "y": -1.2280395030975342,
                    "z": -0.5642352104187012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6816606521606445,
                "transform": {
                    "location": {
                        "x": 3040.017333984375,
                        "y": 4273.46533203125,
                        "z": 362.0494384765625
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -7.511377811431885,
                    "y": -1.2154451608657837,
                    "z": -1.053473949432373
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.17236328125,
                        "y": 4266.15966796875,
                        "z": 360.920654296875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2954.69189453125,
                        "y": 4262.951171875,
                        "z": 360.920654296875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.454026222229004,
                "transform": {
                    "location": {
                        "x": 3000.3037109375,
                        "y": 4263.64599609375,
                        "z": 361.3515930175781
                    },
                    "rotation": {
                        "roll": -0.00012206649989821017,
                        "pitch": -0.609006941318512,
                        "yaw": -170.7884979248047
                    }
                },
                "velocity": {
                    "x": -8.344886779785156,
                    "y": -1.3517524003982544,
                    "z": -0.07870033383369446
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038131713867188,
                "transform": {
                    "location": {
                        "x": 2995.49267578125,
                        "y": 4272.9462890625,
                        "z": 361.27569580078125
                    },
                    "rotation": {
                        "roll": 0.0003933762782253325,
                        "pitch": 0.5293328166007996,
                        "yaw": 9.229519844055176
                    }
                },
                "velocity": {
                    "x": 7.934190273284912,
                    "y": 1.2864325046539307,
                    "z": 0.07262573391199112
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.197661399841309,
                "transform": {
                    "location": {
                        "x": 3003.294189453125,
                        "y": 4267.42333984375,
                        "z": 361.3829345703125
                    },
                    "rotation": {
                        "roll": 0.0021280483342707157,
                        "pitch": -0.4340243339538574,
                        "yaw": -170.77725219726562
                    }
                },
                "velocity": {
                    "x": -12.039851188659668,
                    "y": -1.9524909257888794,
                    "z": -0.11270095407962799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06816577911377,
                "transform": {
                    "location": {
                        "x": 2995.9296875,
                        "y": 4269.72412109375,
                        "z": 361.28961181640625
                    },
                    "rotation": {
                        "roll": -0.0007629417814314365,
                        "pitch": 0.5223318338394165,
                        "yaw": 9.216180801391602
                    }
                },
                "velocity": {
                    "x": 7.963987350463867,
                    "y": 1.290283441543579,
                    "z": 0.07334978133440018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.49533462524414,
                "transform": {
                    "location": {
                        "x": 2980.80859375,
                        "y": 4260.4921875,
                        "z": 361.13592529296875
                    },
                    "rotation": {
                        "roll": 0.001757254940457642,
                        "pitch": -0.4118945300579071,
                        "yaw": -170.82188415527344
                    }
                },
                "velocity": {
                    "x": -10.360530853271484,
                    "y": -1.674065113067627,
                    "z": -0.09463004767894745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.583749771118164,
                "transform": {
                    "location": {
                        "x": 2986.220947265625,
                        "y": 4264.658203125,
                        "z": 361.1827697753906
                    },
                    "rotation": {
                        "roll": 0.0006768387975171208,
                        "pitch": -0.5068068504333496,
                        "yaw": -170.8093719482422
                    }
                },
                "velocity": {
                    "x": -12.421531677246094,
                    "y": -2.01071834564209,
                    "z": -0.1154312714934349
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03673684597015381,
        "expert_target_speed": 8.332411099285244,
        "target_point": [
            35.35295871338455,
            0.015580578774471832
        ],
        "target_point_next": [
            86.35299296194336,
            -0.03312241183010123
        ]
    },
    "100": {
        "acceleration": [
            -0.23962020874023438,
            -0.1065969467163086,
            -0.004339069128036499
        ],
        "angular_velocity": [
            -0.010660000145435333,
            -0.3484272062778473,
            0.4459424912929535
        ],
        "forward_vector": [
            -0.9866968989372253,
            -0.16236770153045654,
            -0.008120924234390259
        ],
        "right_vector": [
            0.162369966506958,
            -0.9867298603057861,
            0.0003829498018603772
        ],
        "location": [
            3023.9111328125,
            4267.6123046875,
            361.5373229980469
        ],
        "rotation": [
            -0.021942131221294403,
            -0.4652997851371765,
            -170.65533447265625
        ],
        "velocity": [
            -7.711646556854248,
            -1.276443362236023,
            -0.0744667649269104
        ],
        "speed": 7.816572156312406,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 26.160980224609375,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2998.1103515625,
                4263.291015625,
                361.329833984375
            ],
            "velocity": [
                -9.300822257995605,
                -1.5073232650756836,
                -0.0857354998588562
            ],
            "speed_kmh": 33.921222059996076,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.734044551849365,
                "transform": {
                    "location": {
                        "x": 3039.062744140625,
                        "y": 4270.0185546875,
                        "z": 361.6705017089844
                    },
                    "rotation": {
                        "roll": -0.003601077012717724,
                        "pitch": -0.6288145184516907,
                        "yaw": -170.7865753173828
                    }
                },
                "velocity": {
                    "x": -5.483808517456055,
                    "y": -0.9114410281181335,
                    "z": -1.4058407545089722
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.569315433502197,
                "transform": {
                    "location": {
                        "x": 3038.16357421875,
                        "y": 4273.1611328125,
                        "z": 361.6287536621094
                    },
                    "rotation": {
                        "roll": -0.0393066331744194,
                        "pitch": -0.5934819579124451,
                        "yaw": -170.6658172607422
                    }
                },
                "velocity": {
                    "x": -7.389225959777832,
                    "y": -1.2553808689117432,
                    "z": -1.0573043823242188
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.677829742431641,
                "transform": {
                    "location": {
                        "x": 2956.107666015625,
                        "y": 4266.47509765625,
                        "z": 360.93597412109375
                    },
                    "rotation": {
                        "roll": -0.015533447265625,
                        "pitch": 0.15441690385341644,
                        "yaw": 9.254631042480469
                    }
                },
                "velocity": {
                    "x": 6.586899757385254,
                    "y": 1.0968743562698364,
                    "z": 0.055018339306116104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.8763837814331055,
                "transform": {
                    "location": {
                        "x": 2956.549560546875,
                        "y": 4263.25537109375,
                        "z": 360.93560791015625
                    },
                    "rotation": {
                        "roll": -0.040985107421875,
                        "pitch": -0.0003073585103265941,
                        "yaw": 9.330738067626953
                    }
                },
                "velocity": {
                    "x": 6.780882358551025,
                    "y": 1.141269326210022,
                    "z": 0.04237686097621918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.422561645507812,
                "transform": {
                    "location": {
                        "x": 2998.1103515625,
                        "y": 4263.291015625,
                        "z": 361.329833984375
                    },
                    "rotation": {
                        "roll": 0.0003508461522869766,
                        "pitch": -0.471890926361084,
                        "yaw": -170.7950897216797
                    }
                },
                "velocity": {
                    "x": -9.300822257995605,
                    "y": -1.5073232650756836,
                    "z": -0.0857354998588562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049884796142578,
                "transform": {
                    "location": {
                        "x": 2997.478759765625,
                        "y": 4273.26904296875,
                        "z": 361.2941589355469
                    },
                    "rotation": {
                        "roll": 0.002309006405994296,
                        "pitch": 0.5305554270744324,
                        "yaw": 9.187494277954102
                    }
                },
                "velocity": {
                    "x": 7.945921421051025,
                    "y": 1.287482738494873,
                    "z": 0.07323717325925827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.363804817199707,
                "transform": {
                    "location": {
                        "x": 3000.268310546875,
                        "y": 4266.9326171875,
                        "z": 361.3550720214844
                    },
                    "rotation": {
                        "roll": 0.0005893989000469446,
                        "pitch": -0.490721732378006,
                        "yaw": -170.79779052734375
                    }
                },
                "velocity": {
                    "x": -12.20450496673584,
                    "y": -1.974972128868103,
                    "z": -0.11494692414999008
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.98720121383667,
                "transform": {
                    "location": {
                        "x": 2997.909912109375,
                        "y": 4270.044921875,
                        "z": 361.30804443359375
                    },
                    "rotation": {
                        "roll": -0.00018310883024241775,
                        "pitch": 0.5268465876579285,
                        "yaw": 9.205146789550781
                    }
                },
                "velocity": {
                    "x": 7.884061813354492,
                    "y": 1.2773865461349487,
                    "z": 0.07230840623378754
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.254023551940918,
                "transform": {
                    "location": {
                        "x": 2978.067626953125,
                        "y": 4260.04931640625,
                        "z": 361.1110534667969
                    },
                    "rotation": {
                        "roll": -0.0022277834359556437,
                        "pitch": -0.3558664917945862,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -11.108956336975098,
                    "y": -1.7984033823013306,
                    "z": -0.09937714040279388
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.220840454101562,
                "transform": {
                    "location": {
                        "x": 2983.03173828125,
                        "y": 4264.142578125,
                        "z": 361.1531066894531
                    },
                    "rotation": {
                        "roll": -0.0007324189064092934,
                        "pitch": -0.5000927448272705,
                        "yaw": -170.81593322753906
                    }
                },
                "velocity": {
                    "x": -13.050643920898438,
                    "y": -2.111151933670044,
                    "z": -0.11973515152931213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0315791480243206,
        "expert_target_speed": 8.412315045767684,
        "target_point": [
            33.40430247054728,
            -0.04467984353484411
        ],
        "target_point_next": [
            84.4041777124691,
            -0.18102735496467837
        ]
    },
    "105": {
        "acceleration": [
            0.5285453796386719,
            0.031986236572265625,
            0.011626183986663818
        ],
        "angular_velocity": [
            0.05478693172335625,
            -0.24549667537212372,
            0.4284195601940155
        ],
        "forward_vector": [
            -0.9863752126693726,
            -0.16424550116062164,
            -0.009345990605652332
        ],
        "right_vector": [
            0.16424891352653503,
            -0.9864188432693481,
            0.000407445797463879
        ],
        "location": [
            3021.990966796875,
            4267.29296875,
            361.5190124511719
        ],
        "rotation": [
            -0.02334594540297985,
            -0.5354936122894287,
            -170.54617309570312
        ],
        "velocity": [
            -7.6548309326171875,
            -1.2817554473876953,
            -0.07541175186634064
        ],
        "speed": 7.761400236675142,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 90.82037353515625,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.1393117904663086,
                "transform": {
                    "location": {
                        "x": 3038.22900390625,
                        "y": 4269.87646484375,
                        "z": 361.64398193359375
                    },
                    "rotation": {
                        "roll": -0.006439208984375,
                        "pitch": -0.6839272975921631,
                        "yaw": -170.54640197753906
                    }
                },
                "velocity": {
                    "x": -3.0902724266052246,
                    "y": -0.5379583835601807,
                    "z": 0.12686868011951447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.508610248565674,
                "transform": {
                    "location": {
                        "x": 3036.3251953125,
                        "y": 4272.84814453125,
                        "z": 361.5945739746094
                    },
                    "rotation": {
                        "roll": -0.0328369066119194,
                        "pitch": -0.5579854249954224,
                        "yaw": -170.32501220703125
                    }
                },
                "velocity": {
                    "x": -7.390940189361572,
                    "y": -1.280750036239624,
                    "z": 0.336019903421402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8563666343688965,
                "transform": {
                    "location": {
                        "x": 2957.7783203125,
                        "y": 4266.75830078125,
                        "z": 360.9500732421875
                    },
                    "rotation": {
                        "roll": -0.0176391564309597,
                        "pitch": 0.37201306223869324,
                        "yaw": 9.590768814086914
                    }
                },
                "velocity": {
                    "x": 6.757531642913818,
                    "y": 1.1586215496063232,
                    "z": 0.05588286370038986
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.626554012298584,
                "transform": {
                    "location": {
                        "x": 2958.214599609375,
                        "y": 4263.53857421875,
                        "z": 360.9461975097656
                    },
                    "rotation": {
                        "roll": -0.0380554161965847,
                        "pitch": 0.25202029943466187,
                        "yaw": 9.638810157775879
                    }
                },
                "velocity": {
                    "x": 6.530271530151367,
                    "y": 1.124423861503601,
                    "z": 0.049408961087465286
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.948494911193848,
                "transform": {
                    "location": {
                        "x": 2898.549072265625,
                        "y": 4247.28173828125,
                        "z": 360.6842956542969
                    },
                    "rotation": {
                        "roll": 0.0002207589423051104,
                        "pitch": -0.3895871341228485,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -9.803566932678223,
                    "y": -1.5886552333831787,
                    "z": -0.5820546746253967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.041268348693848,
                "transform": {
                    "location": {
                        "x": 2999.464111328125,
                        "y": 4273.59033203125,
                        "z": 361.3127746582031
                    },
                    "rotation": {
                        "roll": 0.001056993380188942,
                        "pitch": 0.5287044048309326,
                        "yaw": 9.209705352783203
                    }
                },
                "velocity": {
                    "x": 7.937689781188965,
                    "y": 1.2844306230545044,
                    "z": 0.07292117923498154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.942965507507324,
                "transform": {
                    "location": {
                        "x": 2997.143798828125,
                        "y": 4266.42724609375,
                        "z": 361.32568359375
                    },
                    "rotation": {
                        "roll": 0.0010672734351828694,
                        "pitch": -0.4733594059944153,
                        "yaw": -170.80377197265625
                    }
                },
                "velocity": {
                    "x": -12.776033401489258,
                    "y": -2.0685975551605225,
                    "z": -0.11927786469459534
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05614948272705,
                "transform": {
                    "location": {
                        "x": 2999.889404296875,
                        "y": 4270.3662109375,
                        "z": 361.3265075683594
                    },
                    "rotation": {
                        "roll": 9.777783998288214e-05,
                        "pitch": 0.5239642858505249,
                        "yaw": 9.204377174377441
                    }
                },
                "velocity": {
                    "x": 7.952092170715332,
                    "y": 1.2885758876800537,
                    "z": 0.07306499034166336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.497873306274414,
                "transform": {
                    "location": {
                        "x": 2878.263427734375,
                        "y": 4243.99951171875,
                        "z": 360.5448303222656
                    },
                    "rotation": {
                        "roll": 0.0006909583462402225,
                        "pitch": -0.42156606912612915,
                        "yaw": -170.9033203125
                    }
                },
                "velocity": {
                    "x": -10.346864700317383,
                    "y": -1.67600417137146,
                    "z": -0.5820228457450867
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.469164848327637,
                "transform": {
                    "location": {
                        "x": 2979.7265625,
                        "y": 4263.60791015625,
                        "z": 361.1229248046875
                    },
                    "rotation": {
                        "roll": 0.00037295350921340287,
                        "pitch": -0.5058642625808716,
                        "yaw": -170.81484985351562
                    }
                },
                "velocity": {
                    "x": -13.295907020568848,
                    "y": -2.1499931812286377,
                    "z": -0.12168969959020615
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.018418043851852417,
        "expert_target_speed": 8.436287880055023,
        "target_point": [
            31.45761807179075,
            -0.10791994173988328
        ],
        "target_point_next": [
            82.45714104027891,
            -0.34142009615361424
        ]
    },
    "110": {
        "acceleration": [
            0.5516242980957031,
            0.20852088928222656,
            0.013791471719741821
        ],
        "angular_velocity": [
            0.20616747438907623,
            -0.15663103759288788,
            -0.25244075059890747
        ],
        "forward_vector": [
            -0.9861971735954285,
            -0.1652601957321167,
            -0.010207594372332096
        ],
        "right_vector": [
            0.1652674674987793,
            -0.986248791217804,
            0.0001331510575255379
        ],
        "location": [
            3020.089599609375,
            4266.97412109375,
            361.5007019042969
        ],
        "rotation": [
            -0.007629391737282276,
            -0.584862232208252,
            -170.48715209960938
        ],
        "velocity": [
            -7.528449535369873,
            -1.2560346126556396,
            -0.07280316203832626
        ],
        "speed": 7.632507802472255,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 88.89239501953125,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.964751958847046,
                "transform": {
                    "location": {
                        "x": 3037.43701171875,
                        "y": 4269.73974609375,
                        "z": 361.6572570800781
                    },
                    "rotation": {
                        "roll": -0.0033569324295967817,
                        "pitch": -0.5955446362495422,
                        "yaw": -170.3619384765625
                    }
                },
                "velocity": {
                    "x": -2.921299457550049,
                    "y": -0.5056391358375549,
                    "z": 0.009679927490651608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.0349345207214355,
                "transform": {
                    "location": {
                        "x": 3034.6728515625,
                        "y": 4272.5625,
                        "z": 361.6653137207031
                    },
                    "rotation": {
                        "roll": -0.004852290730923414,
                        "pitch": -0.8298884034156799,
                        "yaw": -170.16734313964844
                    }
                },
                "velocity": {
                    "x": -5.946511745452881,
                    "y": -1.0228549242019653,
                    "z": 0.11488994210958481
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.614325046539307,
                "transform": {
                    "location": {
                        "x": 2959.43701171875,
                        "y": 4267.04443359375,
                        "z": 360.9637451171875
                    },
                    "rotation": {
                        "roll": -0.006561276502907276,
                        "pitch": 0.44336122274398804,
                        "yaw": 9.767130851745605
                    }
                },
                "velocity": {
                    "x": 6.5169878005981445,
                    "y": 1.1292459964752197,
                    "z": 0.05447551608085632
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.464479446411133,
                "transform": {
                    "location": {
                        "x": 2959.86865234375,
                        "y": 4263.82373046875,
                        "z": 360.9586486816406
                    },
                    "rotation": {
                        "roll": -0.018157951533794403,
                        "pitch": 0.37661659717559814,
                        "yaw": 9.778958320617676
                    }
                },
                "velocity": {
                    "x": 6.3692450523376465,
                    "y": 1.104377031326294,
                    "z": 0.05059712380170822
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044276237487793,
                "transform": {
                    "location": {
                        "x": 3001.448486328125,
                        "y": 4273.9111328125,
                        "z": 361.3312683105469
                    },
                    "rotation": {
                        "roll": 9.33522005652776e-06,
                        "pitch": 0.5345305800437927,
                        "yaw": 9.17167854309082
                    }
                },
                "velocity": {
                    "x": 7.941029071807861,
                    "y": 1.2824608087539673,
                    "z": 0.075718455016613
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.070631980895996,
                "transform": {
                    "location": {
                        "x": 2993.920166015625,
                        "y": 4265.90576171875,
                        "z": 361.2958984375
                    },
                    "rotation": {
                        "roll": 0.0002985321043524891,
                        "pitch": -0.5027428865432739,
                        "yaw": -170.8138885498047
                    }
                },
                "velocity": {
                    "x": -12.90245246887207,
                    "y": -2.0865538120269775,
                    "z": -0.12006349116563797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996906757354736,
                "transform": {
                    "location": {
                        "x": 3001.870361328125,
                        "y": 4270.6875,
                        "z": 361.34503173828125
                    },
                    "rotation": {
                        "roll": 0.0005188029026612639,
                        "pitch": 0.5283424258232117,
                        "yaw": 9.200817108154297
                    }
                },
                "velocity": {
                    "x": 7.893702983856201,
                    "y": 1.2784483432769775,
                    "z": 0.07445666939020157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.306327819824219,
                "transform": {
                    "location": {
                        "x": 2976.412353515625,
                        "y": 4263.07177734375,
                        "z": 361.0930480957031
                    },
                    "rotation": {
                        "roll": 0.0011413167230784893,
                        "pitch": -0.5085758566856384,
                        "yaw": -170.8200225830078
                    }
                },
                "velocity": {
                    "x": -13.135241508483887,
                    "y": -2.1236205101013184,
                    "z": -0.11837128549814224
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007953355088829994,
        "expert_target_speed": 8.336038488581494,
        "target_point": [
            29.529574010242744,
            -0.140546854244465
        ],
        "target_point_next": [
            80.5288294299979,
            -0.4265747655387866
        ]
    },
    "115": {
        "acceleration": [
            1.4783477783203125,
            0.30704259872436523,
            0.01386404037475586
        ],
        "angular_velocity": [
            0.017308339476585388,
            -0.22714348137378693,
            -0.5286769866943359
        ],
        "forward_vector": [
            -0.9865301251411438,
            -0.16319531202316284,
            -0.011211159639060497
        ],
        "right_vector": [
            0.16320812702178955,
            -0.9865916967391968,
            -0.00023226713528856635
        ],
        "location": [
            3018.24560546875,
            4266.66943359375,
            361.4832458496094
        ],
        "rotation": [
            0.013308762572705746,
            -0.642365574836731,
            -170.60699462890625
        ],
        "velocity": [
            -7.237255573272705,
            -1.1885584592819214,
            -0.07096274197101593
        ],
        "speed": 7.334203395325047,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 87.02337646484375,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9053804874420166,
                "transform": {
                    "location": {
                        "x": 3036.721923828125,
                        "y": 4269.61572265625,
                        "z": 361.6544189453125
                    },
                    "rotation": {
                        "roll": -0.0045471228659152985,
                        "pitch": -0.5652459263801575,
                        "yaw": -170.32162475585938
                    }
                },
                "velocity": {
                    "x": -2.8623902797698975,
                    "y": -0.49751806259155273,
                    "z": -0.020817026495933533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.608599662780762,
                "transform": {
                    "location": {
                        "x": 3033.257080078125,
                        "y": 4272.31982421875,
                        "z": 361.6558837890625
                    },
                    "rotation": {
                        "roll": 0.006800638511776924,
                        "pitch": -0.730072021484375,
                        "yaw": -170.38453674316406
                    }
                },
                "velocity": {
                    "x": -5.528742790222168,
                    "y": -0.9359701871871948,
                    "z": -0.11554837971925735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.538888454437256,
                "transform": {
                    "location": {
                        "x": 2960.876220703125,
                        "y": 4267.29150390625,
                        "z": 360.9757385253906
                    },
                    "rotation": {
                        "roll": 0.013240629807114601,
                        "pitch": 0.31635385751724243,
                        "yaw": 9.724899291992188
                    }
                },
                "velocity": {
                    "x": 5.460730075836182,
                    "y": 0.9261371493339539,
                    "z": 0.04452317953109741
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.311298847198486,
                "transform": {
                    "location": {
                        "x": 2961.256591796875,
                        "y": 4264.06201171875,
                        "z": 360.97088623046875
                    },
                    "rotation": {
                        "roll": 0.01454486045986414,
                        "pitch": 0.1147335097193718,
                        "yaw": 9.732114791870117
                    }
                },
                "velocity": {
                    "x": 5.236596584320068,
                    "y": 0.8865625858306885,
                    "z": 0.044237155467271805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045075416564941,
                "transform": {
                    "location": {
                        "x": 3003.43408203125,
                        "y": 4274.2314453125,
                        "z": 361.35003662109375
                    },
                    "rotation": {
                        "roll": -0.000793450337368995,
                        "pitch": 0.5349540710449219,
                        "yaw": 9.205634117126465
                    }
                },
                "velocity": {
                    "x": 7.941291332244873,
                    "y": 1.28581964969635,
                    "z": 0.07615987956523895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.657360076904297,
                "transform": {
                    "location": {
                        "x": 2990.736083984375,
                        "y": 4265.390625,
                        "z": 361.26666259765625
                    },
                    "rotation": {
                        "roll": 0.0010522656375542283,
                        "pitch": -0.5566057562828064,
                        "yaw": -170.81114196777344
                    }
                },
                "velocity": {
                    "x": -12.49468994140625,
                    "y": -2.0193541049957275,
                    "z": -0.11703325062990189
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.052651405334473,
                "transform": {
                    "location": {
                        "x": 3003.8505859375,
                        "y": 4271.0078125,
                        "z": 361.3636779785156
                    },
                    "rotation": {
                        "roll": 0.0008202114258892834,
                        "pitch": 0.5306510329246521,
                        "yaw": 9.193495750427246
                    }
                },
                "velocity": {
                    "x": 7.948866367340088,
                    "y": 1.2864435911178589,
                    "z": 0.07605908811092377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.404946327209473,
                "transform": {
                    "location": {
                        "x": 2973.222412109375,
                        "y": 4262.55615234375,
                        "z": 361.0648498535156
                    },
                    "rotation": {
                        "roll": 0.0009055614355020225,
                        "pitch": -0.5233768820762634,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -12.245392799377441,
                    "y": -1.9802716970443726,
                    "z": -0.10757927596569061
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00849175825715065,
        "expert_target_speed": 8.10009253448073,
        "target_point": [
            27.660806686498795,
            -0.07842701240680494
        ],
        "target_point_next": [
            78.66054885735244,
            -0.2577698179942871
        ]
    },
    "120": {
        "acceleration": [
            0.6413364410400391,
            0.1793217658996582,
            0.0015063583850860596
        ],
        "angular_velocity": [
            0.015123534016311169,
            0.06959600746631622,
            -0.5430992841720581
        ],
        "forward_vector": [
            -0.9869041442871094,
            -0.16088885068893433,
            -0.011623954400420189
        ],
        "right_vector": [
            0.16090376675128937,
            -0.986970067024231,
            -0.0003551660047378391
        ],
        "location": [
            3016.47021484375,
            4266.37939453125,
            361.46624755859375
        ],
        "rotation": [
            0.02035088650882244,
            -0.666018545627594,
            -170.74087524414062
        ],
        "velocity": [
            -6.982248306274414,
            -1.1290310621261597,
            -0.06790365278720856
        ],
        "speed": 7.072941576863028,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 85.2244644165039,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.723184108734131,
                "transform": {
                    "location": {
                        "x": 3035.937744140625,
                        "y": 4269.4794921875,
                        "z": 361.6470642089844
                    },
                    "rotation": {
                        "roll": -0.00714111328125,
                        "pitch": -0.5110142230987549,
                        "yaw": -170.197509765625
                    }
                },
                "velocity": {
                    "x": -3.6671981811523438,
                    "y": -0.6423218250274658,
                    "z": -0.03436100855469704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.294381618499756,
                "transform": {
                    "location": {
                        "x": 3031.700927734375,
                        "y": 4272.0576171875,
                        "z": 361.6231994628906
                    },
                    "rotation": {
                        "roll": 0.0008685656939633191,
                        "pitch": -0.24343475699424744,
                        "yaw": -170.4106903076172
                    }
                },
                "velocity": {
                    "x": -7.192769527435303,
                    "y": -1.2091991901397705,
                    "z": -0.09951768815517426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.731154918670654,
                "transform": {
                    "location": {
                        "x": 2962.270263671875,
                        "y": 4267.52685546875,
                        "z": 360.9874267578125
                    },
                    "rotation": {
                        "roll": 0.010161690413951874,
                        "pitch": 0.46627649664878845,
                        "yaw": 9.617281913757324
                    }
                },
                "velocity": {
                    "x": 5.651306629180908,
                    "y": 0.9521739482879639,
                    "z": 0.04727562889456749
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.369406223297119,
                "transform": {
                    "location": {
                        "x": 2962.5751953125,
                        "y": 4264.28466796875,
                        "z": 360.9810485839844
                    },
                    "rotation": {
                        "roll": 0.015104460529983044,
                        "pitch": 0.34495869278907776,
                        "yaw": 9.613859176635742
                    }
                },
                "velocity": {
                    "x": 5.295005798339844,
                    "y": 0.8896171450614929,
                    "z": 0.04491644725203514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042458534240723,
                "transform": {
                    "location": {
                        "x": 3005.418701171875,
                        "y": 4274.55224609375,
                        "z": 361.3687744140625
                    },
                    "rotation": {
                        "roll": 8.86262278072536e-05,
                        "pitch": 0.5347013473510742,
                        "yaw": 9.174104690551758
                    }
                },
                "velocity": {
                    "x": 7.938863754272461,
                    "y": 1.284474492073059,
                    "z": 0.07558701932430267
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.577230453491211,
                "transform": {
                    "location": {
                        "x": 2987.743408203125,
                        "y": 4264.90625,
                        "z": 361.23931884765625
                    },
                    "rotation": {
                        "roll": -0.0005798331112600863,
                        "pitch": -0.6219433546066284,
                        "yaw": -170.80555725097656
                    }
                },
                "velocity": {
                    "x": -11.428021430969238,
                    "y": -1.849619746208191,
                    "z": -0.10727191716432571
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995967388153076,
                "transform": {
                    "location": {
                        "x": 3005.83056640625,
                        "y": 4271.32861328125,
                        "z": 361.38238525390625
                    },
                    "rotation": {
                        "roll": -0.00015258521307259798,
                        "pitch": 0.5305895805358887,
                        "yaw": 9.193195343017578
                    }
                },
                "velocity": {
                    "x": 7.892910003662109,
                    "y": 1.2774128913879395,
                    "z": 0.07542852312326431
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.154518127441406,
                "transform": {
                    "location": {
                        "x": 2970.322509765625,
                        "y": 4262.0869140625,
                        "z": 361.0396423339844
                    },
                    "rotation": {
                        "roll": 0.0006043045432306826,
                        "pitch": -0.5340251326560974,
                        "yaw": -170.8179168701172
                    }
                },
                "velocity": {
                    "x": -11.01105785369873,
                    "y": -1.780661702156067,
                    "z": -0.09555667638778687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014501952566206455,
        "expert_target_speed": 7.888892739796404,
        "target_point": [
            25.861988590308904,
            -0.014397815147912496
        ],
        "target_point_next": [
            76.86201058571616,
            -0.07457923620253837
        ]
    },
    "125": {
        "acceleration": [
            1.1854743957519531,
            0.24301528930664062,
            0.021871179342269897
        ],
        "angular_velocity": [
            -0.010466353967785835,
            -0.020614122971892357,
            -0.5025206804275513
        ],
        "forward_vector": [
            -0.9872656464576721,
            -0.15865983068943024,
            -0.011561492457985878
        ],
        "right_vector": [
            0.15867510437965393,
            -0.9873307943344116,
            -0.00041058918577618897
        ],
        "location": [
            3014.758056640625,
            4266.1044921875,
            361.44970703125
        ],
        "rotation": [
            0.023526599630713463,
            -0.6624395251274109,
            -170.87026977539062
        ],
        "velocity": [
            -6.735757350921631,
            -1.0735927820205688,
            -0.06419061124324799
        ],
        "speed": 6.820779174852492,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 83.49044799804688,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4811506271362305,
                "transform": {
                    "location": {
                        "x": 3034.76904296875,
                        "y": 4269.27783203125,
                        "z": 361.6353759765625
                    },
                    "rotation": {
                        "roll": 0.0017632435774430633,
                        "pitch": -0.4497952461242676,
                        "yaw": -170.39463806152344
                    }
                },
                "velocity": {
                    "x": -5.405012607574463,
                    "y": -0.9089686274528503,
                    "z": -0.05127802863717079
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.430583000183105,
                "transform": {
                    "location": {
                        "x": 3029.76171875,
                        "y": 4271.73095703125,
                        "z": 361.6028747558594
                    },
                    "rotation": {
                        "roll": 5.8467201597522944e-05,
                        "pitch": -0.20874422788619995,
                        "yaw": -170.4953155517578
                    }
                },
                "velocity": {
                    "x": -8.313902854919434,
                    "y": -1.3959251642227173,
                    "z": -0.07169089466333389
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.058249473571777,
                "transform": {
                    "location": {
                        "x": 2963.99169921875,
                        "y": 4267.81640625,
                        "z": 361.00201416015625
                    },
                    "rotation": {
                        "roll": 0.0066163609735667706,
                        "pitch": 0.8350042700767517,
                        "yaw": 9.5553560256958
                    }
                },
                "velocity": {
                    "x": 7.946708679199219,
                    "y": 1.3344700336456299,
                    "z": 0.06630788743495941
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.770867824554443,
                "transform": {
                    "location": {
                        "x": 2964.26171875,
                        "y": 4264.56787109375,
                        "z": 360.99267578125
                    },
                    "rotation": {
                        "roll": 0.012842269614338875,
                        "pitch": 1.0609264373779297,
                        "yaw": 9.531265258789062
                    }
                },
                "velocity": {
                    "x": 7.663984775543213,
                    "y": 1.2827868461608887,
                    "z": 0.06462793052196503
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044783592224121,
                "transform": {
                    "location": {
                        "x": 3007.403564453125,
                        "y": 4274.87353515625,
                        "z": 361.3874816894531
                    },
                    "rotation": {
                        "roll": -0.0001525886618765071,
                        "pitch": 0.5347013473510742,
                        "yaw": 9.21442699432373
                    }
                },
                "velocity": {
                    "x": 7.940629482269287,
                    "y": 1.2880927324295044,
                    "z": 0.07593931257724762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.914243698120117,
                "transform": {
                    "location": {
                        "x": 2985.043701171875,
                        "y": 4264.46923828125,
                        "z": 361.2147521972656
                    },
                    "rotation": {
                        "roll": 0.0003772085183300078,
                        "pitch": -0.6901837587356567,
                        "yaw": -170.8043975830078
                    }
                },
                "velocity": {
                    "x": -9.786429405212402,
                    "y": -1.5842052698135376,
                    "z": -0.09117396920919418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054693222045898,
                "transform": {
                    "location": {
                        "x": 3007.8115234375,
                        "y": 4271.6494140625,
                        "z": 361.4010925292969
                    },
                    "rotation": {
                        "roll": -9.155446605291218e-05,
                        "pitch": 0.5299885272979736,
                        "yaw": 9.189536094665527
                    }
                },
                "velocity": {
                    "x": 7.950976371765137,
                    "y": 1.2862290143966675,
                    "z": 0.07528970390558243
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.953256607055664,
                "transform": {
                    "location": {
                        "x": 2967.724609375,
                        "y": 4261.66748046875,
                        "z": 361.0171813964844
                    },
                    "rotation": {
                        "roll": 0.0007784972549416125,
                        "pitch": -0.5237730145454407,
                        "yaw": -170.8006134033203
                    }
                },
                "velocity": {
                    "x": -9.825071334838867,
                    "y": -1.5900224447250366,
                    "z": -0.08440444618463516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.020826345309615135,
        "expert_target_speed": 7.681157178856832,
        "target_point": [
            24.127868381117608,
            0.04425517475590057
        ],
        "target_point_next": [
            75.12789623613703,
            0.09924719878162769
        ]
    },
    "130": {
        "acceleration": [
            -7.62939453125e-05,
            0.06859302520751953,
            -0.017999708652496338
        ],
        "angular_velocity": [
            -0.004256253130733967,
            0.21606141328811646,
            -0.5108088254928589
        ],
        "forward_vector": [
            -0.9876181483268738,
            -0.15648366510868073,
            -0.011102447286248207
        ],
        "right_vector": [
            0.15649791061878204,
            -0.9876782298088074,
            -0.00042139977449551225
        ],
        "location": [
            3013.092041015625,
            4265.84033203125,
            361.43365478515625
        ],
        "rotation": [
            0.02414591610431671,
            -0.6361364722251892,
            -170.99658203125
        ],
        "velocity": [
            -6.613961696624756,
            -1.0385123491287231,
            -0.06448126584291458
        ],
        "speed": 6.694997925594322,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 81.80374145507812,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.770908832550049,
                "transform": {
                    "location": {
                        "x": 3033.284912109375,
                        "y": 4269.02880859375,
                        "z": 361.62115478515625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": -0.4701833724975586,
                        "yaw": -170.3837127685547
                    }
                },
                "velocity": {
                    "x": -6.6768693923950195,
                    "y": -1.122662901878357,
                    "z": -0.06519846618175507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.082256317138672,
                "transform": {
                    "location": {
                        "x": 3027.447509765625,
                        "y": 4271.3466796875,
                        "z": 361.58245849609375
                    },
                    "rotation": {
                        "roll": 0.013832137919962406,
                        "pitch": -0.18619094789028168,
                        "yaw": -170.62240600585938
                    }
                },
                "velocity": {
                    "x": -9.947538375854492,
                    "y": -1.6401335000991821,
                    "z": -0.09121938794851303
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.230987548828125,
                "transform": {
                    "location": {
                        "x": 2966.05126953125,
                        "y": 4268.16064453125,
                        "z": 361.01947021484375
                    },
                    "rotation": {
                        "roll": 0.01297962199896574,
                        "pitch": 0.5986523628234863,
                        "yaw": 9.411527633666992
                    }
                },
                "velocity": {
                    "x": 8.119576454162598,
                    "y": 1.347812294960022,
                    "z": 0.07096120715141296
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.274672508239746,
                "transform": {
                    "location": {
                        "x": 2966.27685546875,
                        "y": 4264.904296875,
                        "z": 361.0103759765625
                    },
                    "rotation": {
                        "roll": 0.01907466910779476,
                        "pitch": 0.9129776954650879,
                        "yaw": 9.496143341064453
                    }
                },
                "velocity": {
                    "x": 8.163064956665039,
                    "y": 1.3527122735977173,
                    "z": 0.0688614621758461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.042556762695312,
                "transform": {
                    "location": {
                        "x": 3009.388671875,
                        "y": 4275.1953125,
                        "z": 361.4062805175781
                    },
                    "rotation": {
                        "roll": -0.0002441366232233122,
                        "pitch": 0.5374265909194946,
                        "yaw": 9.183976173400879
                    }
                },
                "velocity": {
                    "x": 7.938704490661621,
                    "y": 1.2860820293426514,
                    "z": 0.07544370740652084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.693608283996582,
                "transform": {
                    "location": {
                        "x": 2982.779541015625,
                        "y": 4264.10302734375,
                        "z": 361.19354248046875
                    },
                    "rotation": {
                        "roll": -0.00015258895291481167,
                        "pitch": -0.6650691628456116,
                        "yaw": -170.81129455566406
                    }
                },
                "velocity": {
                    "x": -8.581756591796875,
                    "y": -1.3878055810928345,
                    "z": -0.07926274091005325
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994692802429199,
                "transform": {
                    "location": {
                        "x": 3009.79150390625,
                        "y": 4271.96923828125,
                        "z": 361.4198303222656
                    },
                    "rotation": {
                        "roll": 0.0008009509183466434,
                        "pitch": 0.5325430035591125,
                        "yaw": 9.185929298400879
                    }
                },
                "velocity": {
                    "x": 7.891809940338135,
                    "y": 1.2762387990951538,
                    "z": 0.07529418915510178
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.91069221496582,
                "transform": {
                    "location": {
                        "x": 2965.458984375,
                        "y": 4261.29833984375,
                        "z": 360.998046875
                    },
                    "rotation": {
                        "roll": 0.0022122429218143225,
                        "pitch": -0.541927695274353,
                        "yaw": -171.00088500976562
                    }
                },
                "velocity": {
                    "x": -7.808505058288574,
                    "y": -1.2656835317611694,
                    "z": -0.06589770317077637
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02891811728477478,
        "expert_target_speed": 7.576141475640728,
        "target_point": [
            22.440884225275546,
            0.09725796339250037
        ],
        "target_point_next": [
            73.44066693874018,
            0.2646751514532468
        ]
    },
    "135": {
        "acceleration": [
            0.20486831665039062,
            0.08081197738647461,
            -0.002528280019760132
        ],
        "angular_velocity": [
            -0.059057362377643585,
            0.16753257811069489,
            -0.4993143379688263
        ],
        "forward_vector": [
            -0.9879643321037292,
            -0.1543426811695099,
            -0.010239779949188232
        ],
        "right_vector": [
            0.15435528755187988,
            -0.9880152940750122,
            -0.00044759316369891167
        ],
        "location": [
            3011.444580078125,
            4265.5830078125,
            361.4177551269531
        ],
        "rotation": [
            0.025646546855568886,
            -0.5867063999176025,
            -171.120849609375
        ],
        "velocity": [
            -6.584108829498291,
            -1.0196117162704468,
            -0.06339902430772781
        ],
        "speed": 6.662589371305523,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.13648986816406,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.732955455780029,
                "transform": {
                    "location": {
                        "x": 3040.112060546875,
                        "y": 4273.48095703125,
                        "z": 362.05035400390625
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.566080093383789,
                    "y": -1.0624830722808838,
                    "z": -1.0442274808883667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.68708324432373,
                "transform": {
                    "location": {
                        "x": 3031.325439453125,
                        "y": 4268.69970703125,
                        "z": 361.60186767578125
                    },
                    "rotation": {
                        "roll": -0.0027771026361733675,
                        "pitch": -0.4273375868797302,
                        "yaw": -170.43601989746094
                    }
                },
                "velocity": {
                    "x": -8.566781997680664,
                    "y": -1.438301920890808,
                    "z": -0.08334629982709885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.892266273498535,
                "transform": {
                    "location": {
                        "x": 3024.889404296875,
                        "y": 4270.92626953125,
                        "z": 361.5592346191406
                    },
                    "rotation": {
                        "roll": 0.004506618715822697,
                        "pitch": -0.3585166037082672,
                        "yaw": -170.65452575683594
                    }
                },
                "velocity": {
                    "x": -10.747908592224121,
                    "y": -1.7642920017242432,
                    "z": -0.10579771548509598
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.791324138641357,
                "transform": {
                    "location": {
                        "x": 2968.0048828125,
                        "y": 4268.48291015625,
                        "z": 361.0362548828125
                    },
                    "rotation": {
                        "roll": 0.011339371092617512,
                        "pitch": 0.45590144395828247,
                        "yaw": 9.172301292419434
                    }
                },
                "velocity": {
                    "x": 7.68859338760376,
                    "y": 1.259257435798645,
                    "z": 0.06736622005701065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.855220317840576,
                "transform": {
                    "location": {
                        "x": 2968.2568359375,
                        "y": 4265.2314453125,
                        "z": 361.0287170410156
                    },
                    "rotation": {
                        "roll": 0.01737661473453045,
                        "pitch": 0.5306715369224548,
                        "yaw": 9.355390548706055
                    }
                },
                "velocity": {
                    "x": 7.750881195068359,
                    "y": 1.2742573022842407,
                    "z": 0.0678110122680664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043683052062988,
                "transform": {
                    "location": {
                        "x": 3011.373779296875,
                        "y": 4275.5166015625,
                        "z": 361.4252014160156
                    },
                    "rotation": {
                        "roll": -3.052045576623641e-05,
                        "pitch": 0.54584139585495,
                        "yaw": 9.213315963745117
                    }
                },
                "velocity": {
                    "x": 7.94000768661499,
                    "y": 1.2850420475006104,
                    "z": 0.076054148375988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.513372421264648,
                "transform": {
                    "location": {
                        "x": 2980.790283203125,
                        "y": 4263.78125,
                        "z": 361.17510986328125
                    },
                    "rotation": {
                        "roll": -0.0016174333868548274,
                        "pitch": -0.6558825373649597,
                        "yaw": -170.81227111816406
                    }
                },
                "velocity": {
                    "x": -7.416707515716553,
                    "y": -1.1994613409042358,
                    "z": -0.06714149564504623
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054491996765137,
                "transform": {
                    "location": {
                        "x": 3011.7724609375,
                        "y": 4272.2890625,
                        "z": 361.4387512207031
                    },
                    "rotation": {
                        "roll": 0.0004390858521219343,
                        "pitch": 0.5391682982444763,
                        "yaw": 9.183175086975098
                    }
                },
                "velocity": {
                    "x": 7.950618743896484,
                    "y": 1.2871167659759521,
                    "z": 0.07645944505929947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.220334053039551,
                "transform": {
                    "location": {
                        "x": 2963.77783203125,
                        "y": 4261.02099609375,
                        "z": 360.9839782714844
                    },
                    "rotation": {
                        "roll": 0.010406119748950005,
                        "pitch": -0.5364634990692139,
                        "yaw": -171.7144775390625
                    }
                },
                "velocity": {
                    "x": -6.142359256744385,
                    "y": -0.9804539084434509,
                    "z": -0.051899321377277374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.048305559903383255,
        "expert_target_speed": 7.548886990250869,
        "target_point": [
            20.77318432307877,
            0.1459811082629261
        ],
        "target_point_next": [
            71.77248390643408,
            0.42402308825524493
        ]
    },
    "140": {
        "acceleration": [
            -0.6732177734375,
            -0.275113582611084,
            0.00928536057472229
        ],
        "angular_velocity": [
            -0.21370483934879303,
            0.18606530129909515,
            1.0373172760009766
        ],
        "forward_vector": [
            -0.9877259731292725,
            -0.15591756999492645,
            -0.009333831258118153
        ],
        "right_vector": [
            0.15592093765735626,
            -0.9877694845199585,
            0.0003706958086695522
        ],
        "location": [
            3009.7880859375,
            4265.32177734375,
            361.4018249511719
        ],
        "rotation": [
            -0.0212402306497097,
            -0.534796953201294,
            -171.0295867919922
        ],
        "velocity": [
            -6.669871807098389,
            -1.0720571279525757,
            -0.06385745853185654
        ],
        "speed": 6.755478991805085,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 78.45968627929688,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.435346603393555,
                "transform": {
                    "location": {
                        "x": 3038.49951171875,
                        "y": 4273.21728515625,
                        "z": 361.6330871582031
                    },
                    "rotation": {
                        "roll": 0.01259822491556406,
                        "pitch": -0.5197159051895142,
                        "yaw": -170.69822692871094
                    }
                },
                "velocity": {
                    "x": -6.316854953765869,
                    "y": -1.0854768753051758,
                    "z": -0.5768610835075378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.370824813842773,
                "transform": {
                    "location": {
                        "x": 3029.044921875,
                        "y": 4268.31884765625,
                        "z": 361.58013916015625
                    },
                    "rotation": {
                        "roll": 0.0018175923032686114,
                        "pitch": -0.48510050773620605,
                        "yaw": -170.55316162109375
                    }
                },
                "velocity": {
                    "x": -9.245311737060547,
                    "y": -1.5259455442428589,
                    "z": -0.0897747054696083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.90954875946045,
                "transform": {
                    "location": {
                        "x": 3022.067138671875,
                        "y": 4270.46435546875,
                        "z": 361.53125
                    },
                    "rotation": {
                        "roll": 0.006091109476983547,
                        "pitch": -0.3253423869609833,
                        "yaw": -170.7100830078125
                    }
                },
                "velocity": {
                    "x": -11.7537202835083,
                    "y": -1.9168152809143066,
                    "z": -0.11496531963348389
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.211286544799805,
                "transform": {
                    "location": {
                        "x": 2969.986572265625,
                        "y": 4268.806640625,
                        "z": 361.053466796875
                    },
                    "rotation": {
                        "roll": 0.0061598122119903564,
                        "pitch": 0.5488808155059814,
                        "yaw": 9.12100601196289
                    }
                },
                "velocity": {
                    "x": 8.103909492492676,
                    "y": 1.3217507600784302,
                    "z": 0.06964603066444397
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.066295623779297,
                "transform": {
                    "location": {
                        "x": 2970.21044921875,
                        "y": 4265.552734375,
                        "z": 361.0456848144531
                    },
                    "rotation": {
                        "roll": 0.00946589931845665,
                        "pitch": 0.553463876247406,
                        "yaw": 9.348495483398438
                    }
                },
                "velocity": {
                    "x": 7.95924186706543,
                    "y": 1.3079795837402344,
                    "z": 0.06916192919015884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044425964355469,
                "transform": {
                    "location": {
                        "x": 3013.358642578125,
                        "y": 4275.837890625,
                        "z": 361.44427490234375
                    },
                    "rotation": {
                        "roll": -0.00039673587889410555,
                        "pitch": 0.5455408096313477,
                        "yaw": 9.175143241882324
                    }
                },
                "velocity": {
                    "x": 7.940722465515137,
                    "y": 1.285251259803772,
                    "z": 0.07642633467912674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.169990062713623,
                "transform": {
                    "location": {
                        "x": 2979.225341796875,
                        "y": 4263.52880859375,
                        "z": 361.16168212890625
                    },
                    "rotation": {
                        "roll": -0.0006103524356149137,
                        "pitch": -0.7411233186721802,
                        "yaw": -170.7258758544922
                    }
                },
                "velocity": {
                    "x": -5.101909637451172,
                    "y": -0.8349443078041077,
                    "z": -0.04673650488257408
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99538516998291,
                "transform": {
                    "location": {
                        "x": 3013.75244140625,
                        "y": 4272.609375,
                        "z": 361.4577331542969
                    },
                    "rotation": {
                        "roll": -0.0005493176868185401,
                        "pitch": 0.5407596826553345,
                        "yaw": 9.186705589294434
                    }
                },
                "velocity": {
                    "x": 7.892734050750732,
                    "y": 1.2748275995254517,
                    "z": 0.07582154870033264
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.261319637298584,
                "transform": {
                    "location": {
                        "x": 2962.260009765625,
                        "y": 4260.7822265625,
                        "z": 360.9707336425781
                    },
                    "rotation": {
                        "roll": 0.005040416959673166,
                        "pitch": -0.47702038288116455,
                        "yaw": -171.3805389404297
                    }
                },
                "velocity": {
                    "x": -6.182713508605957,
                    "y": -0.9876869916915894,
                    "z": -0.05152672529220581
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04628005251288414,
        "expert_target_speed": 7.626597983372194,
        "target_point": [
            19.09642477455221,
            0.11313951237011644
        ],
        "target_point_next": [
            70.09610259167455,
            0.3099335295133123
        ]
    },
    "145": {
        "acceleration": [
            -0.10244369506835938,
            -0.06158590316772461,
            0.008019506931304932
        ],
        "angular_velocity": [
            -0.020010152831673622,
            -0.010143390856683254,
            0.4530617892742157
        ],
        "forward_vector": [
            -0.987261176109314,
            -0.15885929763317108,
            -0.008889914490282536
        ],
        "right_vector": [
            0.15886253118515015,
            -0.9873006343841553,
            0.0003440667351242155
        ],
        "location": [
            3008.109375,
            4265.05126953125,
            361.3858642578125
        ],
        "rotation": [
            -0.019714349880814552,
            -0.5093613266944885,
            -170.85894775390625
        ],
        "velocity": [
            -6.7539849281311035,
            -1.095106601715088,
            -0.06445644050836563
        ],
        "speed": 6.842190502941443,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 76.75940704345703,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2931.55029296875,
                        "y": 4262.49853515625,
                        "z": 360.74920654296875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.069580078125,
                        "y": 4259.2900390625,
                        "z": 360.74908447265625
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.391051769256592,
                "transform": {
                    "location": {
                        "x": 3036.9208984375,
                        "y": 4272.94677734375,
                        "z": 361.650390625
                    },
                    "rotation": {
                        "roll": 0.000129859457956627,
                        "pitch": -0.542965829372406,
                        "yaw": -170.37847900390625
                    }
                },
                "velocity": {
                    "x": -6.295108318328857,
                    "y": -1.0922154188156128,
                    "z": 0.15562203526496887
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.938204288482666,
                "transform": {
                    "location": {
                        "x": 3026.90283203125,
                        "y": 4267.96484375,
                        "z": 361.5602111816406
                    },
                    "rotation": {
                        "roll": -9.155230509350076e-05,
                        "pitch": -0.6044648885726929,
                        "yaw": -170.64987182617188
                    }
                },
                "velocity": {
                    "x": -7.832642555236816,
                    "y": -1.288016676902771,
                    "z": -0.0762796550989151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.833953857421875,
                "transform": {
                    "location": {
                        "x": 3019.009521484375,
                        "y": 4269.96630859375,
                        "z": 361.5016784667969
                    },
                    "rotation": {
                        "roll": 0.0066892970353364944,
                        "pitch": -0.3319949805736542,
                        "yaw": -170.7898406982422
                    }
                },
                "velocity": {
                    "x": -12.667447090148926,
                    "y": -2.0570499897003174,
                    "z": -0.12125061452388763
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.950719833374023,
                "transform": {
                    "location": {
                        "x": 2971.984619140625,
                        "y": 4269.13134765625,
                        "z": 361.0709228515625
                    },
                    "rotation": {
                        "roll": 0.004172638989984989,
                        "pitch": 0.48163077235221863,
                        "yaw": 9.044061660766602
                    }
                },
                "velocity": {
                    "x": 7.848116397857666,
                    "y": 1.2713589668273926,
                    "z": 0.06831224262714386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.06888484954834,
                "transform": {
                    "location": {
                        "x": 2972.21240234375,
                        "y": 4265.88037109375,
                        "z": 361.0632629394531
                    },
                    "rotation": {
                        "roll": 0.012022733688354492,
                        "pitch": 0.5417842268943787,
                        "yaw": 9.271509170532227
                    }
                },
                "velocity": {
                    "x": 7.963567733764648,
                    "y": 1.2975972890853882,
                    "z": 0.06878553330898285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.998882293701172,
                "transform": {
                    "location": {
                        "x": 3015.341796875,
                        "y": 4276.1591796875,
                        "z": 361.4633483886719
                    },
                    "rotation": {
                        "roll": 0.0013240723637863994,
                        "pitch": 0.5436351895332336,
                        "yaw": 9.20862102508545
                    }
                },
                "velocity": {
                    "x": 7.895809650421143,
                    "y": 1.2777376174926758,
                    "z": 0.0754561573266983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.003540992736816,
                "transform": {
                    "location": {
                        "x": 2977.977783203125,
                        "y": 4263.32568359375,
                        "z": 361.1490783691406
                    },
                    "rotation": {
                        "roll": 0.001320545794442296,
                        "pitch": -0.5822189450263977,
                        "yaw": -170.7580108642578
                    }
                },
                "velocity": {
                    "x": -4.938865661621094,
                    "y": -0.8006282448768616,
                    "z": -0.0449877493083477
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03012752532959,
                "transform": {
                    "location": {
                        "x": 3015.732177734375,
                        "y": 4272.9296875,
                        "z": 361.47674560546875
                    },
                    "rotation": {
                        "roll": 0.00016829096421133727,
                        "pitch": 0.5415042042732239,
                        "yaw": 9.18958568572998
                    }
                },
                "velocity": {
                    "x": 7.926676273345947,
                    "y": 1.282515287399292,
                    "z": 0.07685434073209763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.166154861450195,
                "transform": {
                    "location": {
                        "x": 2960.606201171875,
                        "y": 4260.52001953125,
                        "z": 360.9566955566406
                    },
                    "rotation": {
                        "roll": 0.00017551241035107523,
                        "pitch": -0.4426235556602478,
                        "yaw": -171.00428771972656
                    }
                },
                "velocity": {
                    "x": -7.074827671051025,
                    "y": -1.1389437913894653,
                    "z": -0.05826864764094353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.037913959473371506,
        "expert_target_speed": 7.698688245559877,
        "target_point": [
            17.39631095596065,
            0.05588913996557077
        ],
        "target_point_next": [
            68.39634867322808,
            0.10081321772796947
        ]
    },
    "150": {
        "acceleration": [
            -0.7323169708251953,
            -0.1621556282043457,
            -0.011136680841445923
        ],
        "angular_velocity": [
            0.04581031575798988,
            0.06581708788871765,
            0.4156019985675812
        ],
        "forward_vector": [
            -0.9869508147239685,
            -0.16078679263591766,
            -0.00869871024042368
        ],
        "right_vector": [
            0.16078996658325195,
            -0.9869886040687561,
            0.0003371433122083545
        ],
        "location": [
            3006.4052734375,
            4264.7734375,
            361.3697509765625
        ],
        "rotation": [
            -0.019317619502544403,
            -0.49840569496154785,
            -170.74708557128906
        ],
        "velocity": [
            -6.873967170715332,
            -1.127467393875122,
            -0.06467413902282715
        ],
        "speed": 6.965817065378886,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 75.0328598022461,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.000946044921875,
                "transform": {
                    "location": {
                        "x": 3040.251220703125,
                        "y": 4270.2109375,
                        "z": 362.046630859375
                    },
                    "rotation": {
                        "roll": 6.670416219378694e-09,
                        "pitch": -0.5521183013916016,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.8333740234375,
                    "y": -1.1057350635528564,
                    "z": -1.0467067956924438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2933.6064453125,
                        "y": 4262.83154296875,
                        "z": 360.76385498046875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2934.126220703125,
                        "y": 4259.623046875,
                        "z": 360.76385498046875
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.356863975524902,
                "transform": {
                    "location": {
                        "x": 3035.338134765625,
                        "y": 4272.67236328125,
                        "z": 361.6604919433594
                    },
                    "rotation": {
                        "roll": -0.004577639512717724,
                        "pitch": -0.5429112315177917,
                        "yaw": -170.22630310058594
                    }
                },
                "velocity": {
                    "x": -6.26260232925415,
                    "y": -1.0901494026184082,
                    "z": -0.03319109231233597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.553515911102295,
                "transform": {
                    "location": {
                        "x": 3025.034423828125,
                        "y": 4267.658203125,
                        "z": 361.5420227050781
                    },
                    "rotation": {
                        "roll": -0.0002136247348971665,
                        "pitch": -0.5878607034683228,
                        "yaw": -170.6759796142578
                    }
                },
                "velocity": {
                    "x": -7.454215049743652,
                    "y": -1.2185839414596558,
                    "z": -0.07303851842880249
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.758354187011719,
                "transform": {
                    "location": {
                        "x": 3015.724365234375,
                        "y": 4269.43310546875,
                        "z": 361.47021484375
                    },
                    "rotation": {
                        "roll": 0.00492291571572423,
                        "pitch": -0.33743181824684143,
                        "yaw": -170.80101013183594
                    }
                },
                "velocity": {
                    "x": -13.580764770507812,
                    "y": -2.199615955352783,
                    "z": -0.12970934808254242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.059200286865234,
                "transform": {
                    "location": {
                        "x": 2973.9521484375,
                        "y": 4269.44970703125,
                        "z": 361.08843994140625
                    },
                    "rotation": {
                        "roll": 0.00024262818624265492,
                        "pitch": 0.5135345458984375,
                        "yaw": 9.032431602478027
                    }
                },
                "velocity": {
                    "x": 7.955181121826172,
                    "y": 1.288788080215454,
                    "z": 0.06941581517457962
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.957769393920898,
                "transform": {
                    "location": {
                        "x": 2974.18212890625,
                        "y": 4266.20166015625,
                        "z": 361.0808410644531
                    },
                    "rotation": {
                        "roll": 0.0061666471883654594,
                        "pitch": 0.4883311688899994,
                        "yaw": 9.269980430603027
                    }
                },
                "velocity": {
                    "x": 7.8539018630981445,
                    "y": 1.2797077894210815,
                    "z": 0.06830000132322311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.647839069366455,
                "transform": {
                    "location": {
                        "x": 3017.274658203125,
                        "y": 4276.47216796875,
                        "z": 361.4820861816406
                    },
                    "rotation": {
                        "roll": 1.5732111933175474e-05,
                        "pitch": 0.5273520350456238,
                        "yaw": 9.173993110656738
                    }
                },
                "velocity": {
                    "x": 7.549257755279541,
                    "y": 1.2217979431152344,
                    "z": 0.07321176677942276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.971427917480469,
                "transform": {
                    "location": {
                        "x": 2976.591064453125,
                        "y": 4263.1005859375,
                        "z": 361.135498046875
                    },
                    "rotation": {
                        "roll": 0.001816921983845532,
                        "pitch": -0.45935067534446716,
                        "yaw": -170.7893829345703
                    }
                },
                "velocity": {
                    "x": -5.89467191696167,
                    "y": -0.9528964161872864,
                    "z": -0.05274107679724693
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.663619041442871,
                "transform": {
                    "location": {
                        "x": 3017.6728515625,
                        "y": 4273.244140625,
                        "z": 361.4952392578125
                    },
                    "rotation": {
                        "roll": 0.00032914913026615977,
                        "pitch": 0.5664207339286804,
                        "yaw": 9.195061683654785
                    }
                },
                "velocity": {
                    "x": 7.564791679382324,
                    "y": 1.2245477437973022,
                    "z": 0.07396100461483002
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.613698482513428,
                "transform": {
                    "location": {
                        "x": 2958.75390625,
                        "y": 4260.22314453125,
                        "z": 360.94158935546875
                    },
                    "rotation": {
                        "roll": -0.0005187997594475746,
                        "pitch": -0.44390761852264404,
                        "yaw": -170.78292846679688
                    }
                },
                "velocity": {
                    "x": -7.51542329788208,
                    "y": -1.217816710472107,
                    "z": -0.061140842735767365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030354591086506844,
        "expert_target_speed": 7.80073083056086,
        "target_point": [
            15.669785426256048,
            0.021710402877831658
        ],
        "target_point_next": [
            66.66981363705601,
            -0.03295067167367449
        ]
    },
    "155": {
        "acceleration": [
            -0.06574630737304688,
            -0.05204439163208008,
            -0.01496434211730957
        ],
        "angular_velocity": [
            0.0068945493549108505,
            -0.06429221481084824,
            0.37736257910728455
        ],
        "forward_vector": [
            -0.9866786599159241,
            -0.16245023906230927,
            -0.008665214292705059
        ],
        "right_vector": [
            0.16245341300964355,
            -0.9867161512374878,
            0.00033980663283728063
        ],
        "location": [
            3004.67529296875,
            4264.48876953125,
            361.3534240722656
        ],
        "rotation": [
            -0.01947021670639515,
            -0.4964864253997803,
            -170.65049743652344
        ],
        "velocity": [
            -6.95930814743042,
            -1.1526440382003784,
            -0.06498673558235168
        ],
        "speed": 7.054116398932633,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 73.27964782714844,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.716738224029541,
                "transform": {
                    "location": {
                        "x": 3038.566162109375,
                        "y": 4269.93408203125,
                        "z": 361.6275939941406
                    },
                    "rotation": {
                        "roll": -0.0371704027056694,
                        "pitch": -0.5930721163749695,
                        "yaw": -170.6707305908203
                    }
                },
                "velocity": {
                    "x": -6.540022373199463,
                    "y": -1.1145819425582886,
                    "z": -1.0489931106567383
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9020490646362305,
                "transform": {
                    "location": {
                        "x": 2935.620849609375,
                        "y": 4263.158203125,
                        "z": 360.7781066894531
                    },
                    "rotation": {
                        "roll": 0.004510083235800266,
                        "pitch": 0.5084666013717651,
                        "yaw": 9.213016510009766
                    }
                },
                "velocity": {
                    "x": 6.81031608581543,
                    "y": 1.1199426651000977,
                    "z": 0.06001155823469162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.007325172424316,
                "transform": {
                    "location": {
                        "x": 2936.14306640625,
                        "y": 4259.94970703125,
                        "z": 360.7777404785156
                    },
                    "rotation": {
                        "roll": -0.0022583012469112873,
                        "pitch": 0.36826327443122864,
                        "yaw": 9.210312843322754
                    }
                },
                "velocity": {
                    "x": 6.914647579193115,
                    "y": 1.1357630491256714,
                    "z": 0.017083100974559784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.914967060089111,
                "transform": {
                    "location": {
                        "x": 3033.853271484375,
                        "y": 4272.41748046875,
                        "z": 361.6470947265625
                    },
                    "rotation": {
                        "roll": -0.012054438702762127,
                        "pitch": -0.5146137475967407,
                        "yaw": -170.2724609375
                    }
                },
                "velocity": {
                    "x": -5.832766056060791,
                    "y": -0.9809220433235168,
                    "z": -0.05889957770705223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.42435359954834,
                "transform": {
                    "location": {
                        "x": 3023.07275390625,
                        "y": 4267.33740234375,
                        "z": 361.5223693847656
                    },
                    "rotation": {
                        "roll": 0.0006844368181191385,
                        "pitch": -0.5109869241714478,
                        "yaw": -170.7270965576172
                    }
                },
                "velocity": {
                    "x": -8.314176559448242,
                    "y": -1.3555923700332642,
                    "z": -0.0810190737247467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 14.692132949829102,
                "transform": {
                    "location": {
                        "x": 3012.209228515625,
                        "y": 4268.86376953125,
                        "z": 361.4364318847656
                    },
                    "rotation": {
                        "roll": 0.0025434147100895643,
                        "pitch": -0.33404403924942017,
                        "yaw": -170.8167724609375
                    }
                },
                "velocity": {
                    "x": -14.502853393554688,
                    "y": -2.346600294113159,
                    "z": -0.1395874172449112
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043389320373535,
                "transform": {
                    "location": {
                        "x": 2975.9462890625,
                        "y": 4269.7724609375,
                        "z": 361.106201171875
                    },
                    "rotation": {
                        "roll": 0.0005539252306334674,
                        "pitch": 0.5216966271400452,
                        "yaw": 9.017440795898438
                    }
                },
                "velocity": {
                    "x": 7.940088748931885,
                    "y": 1.2829453945159912,
                    "z": 0.07180726528167725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.06589412689209,
                "transform": {
                    "location": {
                        "x": 2976.160888671875,
                        "y": 4266.5234375,
                        "z": 361.0982360839844
                    },
                    "rotation": {
                        "roll": 0.00507761025801301,
                        "pitch": 0.5399264097213745,
                        "yaw": 9.226579666137695
                    }
                },
                "velocity": {
                    "x": 7.961395263671875,
                    "y": 1.2921596765518188,
                    "z": 0.0718722715973854
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.368904113769531,
                "transform": {
                    "location": {
                        "x": 3019.121826171875,
                        "y": 4276.77099609375,
                        "z": 361.4998779296875
                    },
                    "rotation": {
                        "roll": -0.00012207483814563602,
                        "pitch": 0.5300089716911316,
                        "yaw": 9.210359573364258
                    }
                },
                "velocity": {
                    "x": 7.273892879486084,
                    "y": 1.1773207187652588,
                    "z": 0.07172258198261261
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.554634094238281,
                "transform": {
                    "location": {
                        "x": 2974.995361328125,
                        "y": 4262.8427734375,
                        "z": 361.1203308105469
                    },
                    "rotation": {
                        "roll": -0.00012206860992591828,
                        "pitch": -0.35366716980934143,
                        "yaw": -170.71884155273438
                    }
                },
                "velocity": {
                    "x": -7.457395076751709,
                    "y": -1.206411361694336,
                    "z": -0.06576327234506607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.405013561248779,
                "transform": {
                    "location": {
                        "x": 3019.4619140625,
                        "y": 4273.53369140625,
                        "z": 361.51171875
                    },
                    "rotation": {
                        "roll": -0.00039672822458669543,
                        "pitch": 0.6686208248138428,
                        "yaw": 9.159852981567383
                    }
                },
                "velocity": {
                    "x": 6.322416305541992,
                    "y": 1.023474931716919,
                    "z": 0.0612330324947834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.191070556640625,
                "transform": {
                    "location": {
                        "x": 2956.932861328125,
                        "y": 4259.92822265625,
                        "z": 360.9270324707031
                    },
                    "rotation": {
                        "roll": -0.0036010753829032183,
                        "pitch": -0.46487632393836975,
                        "yaw": -170.71286010742188
                    }
                },
                "velocity": {
                    "x": -7.097368240356445,
                    "y": -1.155592918395996,
                    "z": -0.058887626975774765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.02173914760351181,
        "expert_target_speed": 7.8730358268092075,
        "target_point": [
            13.916554697836474,
            -0.004543233305692951
        ],
        "target_point_next": [
            64.91641831742048,
            -0.14517082411226312
        ]
    },
    "160": {
        "acceleration": [
            -0.6476783752441406,
            -0.1617741584777832,
            -0.01341596245765686
        ],
        "angular_velocity": [
            -0.022664353251457214,
            0.039893586188554764,
            0.39389467239379883
        ],
        "forward_vector": [
            -0.9864049553871155,
            -0.16410544514656067,
            -0.008639227598905563
        ],
        "right_vector": [
            0.16410845518112183,
            -0.9864422678947449,
            0.00036430670297704637
        ],
        "location": [
            3002.920654296875,
            4264.197265625,
            361.3369140625
        ],
        "rotation": [
            -0.020874015986919403,
            -0.49499744176864624,
            -170.5543670654297
        ],
        "velocity": [
            -7.069708824157715,
            -1.1832062005996704,
            -0.06522625684738159
        ],
        "speed": 7.168037372357301,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 71.50096130371094,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.9390788078308105,
                "transform": {
                    "location": {
                        "x": 3036.89404296875,
                        "y": 4269.6484375,
                        "z": 361.5950622558594
                    },
                    "rotation": {
                        "roll": -0.0292358361184597,
                        "pitch": -0.5575209856033325,
                        "yaw": -170.34417724609375
                    }
                },
                "velocity": {
                    "x": -6.8287224769592285,
                    "y": -1.1843721866607666,
                    "z": 0.3415071666240692
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.564098834991455,
                "transform": {
                    "location": {
                        "x": 2937.25244140625,
                        "y": 4263.4326171875,
                        "z": 360.7930908203125
                    },
                    "rotation": {
                        "roll": 0.01310779806226492,
                        "pitch": 0.49114522337913513,
                        "yaw": 9.509306907653809
                    }
                },
                "velocity": {
                    "x": 6.468331813812256,
                    "y": 1.1158450841903687,
                    "z": 0.05444331094622612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.695528030395508,
                "transform": {
                    "location": {
                        "x": 2937.80615234375,
                        "y": 4260.2294921875,
                        "z": 360.78253173828125
                    },
                    "rotation": {
                        "roll": -0.004882811103016138,
                        "pitch": 0.37910962104797363,
                        "yaw": 9.53647232055664
                    }
                },
                "velocity": {
                    "x": 6.598140239715576,
                    "y": 1.1373348236083984,
                    "z": 0.03333335742354393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.738226890563965,
                "transform": {
                    "location": {
                        "x": 3032.30810546875,
                        "y": 4272.1572265625,
                        "z": 361.6324157714844
                    },
                    "rotation": {
                        "roll": -0.006530768238008022,
                        "pitch": -0.6019308567047119,
                        "yaw": -170.4098358154297
                    }
                },
                "velocity": {
                    "x": -6.645443439483643,
                    "y": -1.1124305725097656,
                    "z": -0.06541359424591064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.670727729797363,
                "transform": {
                    "location": {
                        "x": 3020.908935546875,
                        "y": 4266.984375,
                        "z": 361.5015869140625
                    },
                    "rotation": {
                        "roll": -9.155112638836727e-05,
                        "pitch": -0.5296333432197571,
                        "yaw": -170.745849609375
                    }
                },
                "velocity": {
                    "x": -8.557899475097656,
                    "y": -1.391687273979187,
                    "z": -0.08423733711242676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.387219429016113,
                "transform": {
                    "location": {
                        "x": 3008.47216796875,
                        "y": 4268.25927734375,
                        "z": 361.40087890625
                    },
                    "rotation": {
                        "roll": 0.00041826668893918395,
                        "pitch": -0.34643399715423584,
                        "yaw": -170.8064727783203
                    }
                },
                "velocity": {
                    "x": -15.189159393310547,
                    "y": -2.4567134380340576,
                    "z": -0.14319461584091187
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.032135009765625,
                "transform": {
                    "location": {
                        "x": 2977.92626953125,
                        "y": 4270.0927734375,
                        "z": 361.1241760253906
                    },
                    "rotation": {
                        "roll": -0.0021667496766895056,
                        "pitch": 0.509586751461029,
                        "yaw": 9.019495010375977
                    }
                },
                "velocity": {
                    "x": 7.928678035736084,
                    "y": 1.2829753160476685,
                    "z": 0.07241601496934891
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.014365196228027,
                "transform": {
                    "location": {
                        "x": 2978.146728515625,
                        "y": 4266.845703125,
                        "z": 361.1162414550781
                    },
                    "rotation": {
                        "roll": 0.004178036469966173,
                        "pitch": 0.5200710892677307,
                        "yaw": 9.233726501464844
                    }
                },
                "velocity": {
                    "x": 7.910513877868652,
                    "y": 1.2839802503585815,
                    "z": 0.07225950062274933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.1629533767700195,
                "transform": {
                    "location": {
                        "x": 3020.91552734375,
                        "y": 4277.0615234375,
                        "z": 361.5173034667969
                    },
                    "rotation": {
                        "roll": 0.0005719098844565451,
                        "pitch": 0.5351794362068176,
                        "yaw": 9.169622421264648
                    }
                },
                "velocity": {
                    "x": 7.070688247680664,
                    "y": 1.1439285278320312,
                    "z": 0.0685652494430542
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.590192794799805,
                "transform": {
                    "location": {
                        "x": 2972.935546875,
                        "y": 4262.5087890625,
                        "z": 361.1022644042969
                    },
                    "rotation": {
                        "roll": 0.0018439077539369464,
                        "pitch": -0.3619658648967743,
                        "yaw": -170.79771423339844
                    }
                },
                "velocity": {
                    "x": -8.479753494262695,
                    "y": -1.370919942855835,
                    "z": -0.07591664791107178
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.018606662750244,
                "transform": {
                    "location": {
                        "x": 3020.9677734375,
                        "y": 4273.77734375,
                        "z": 361.52685546875
                    },
                    "rotation": {
                        "roll": 4.3131305574206635e-05,
                        "pitch": 0.6043351292610168,
                        "yaw": 9.149269104003906
                    }
                },
                "velocity": {
                    "x": 5.9411749839782715,
                    "y": 0.9606534242630005,
                    "z": 0.05664270371198654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.524740219116211,
                "transform": {
                    "location": {
                        "x": 2955.1298828125,
                        "y": 4259.63427734375,
                        "z": 360.91229248046875
                    },
                    "rotation": {
                        "roll": -0.0007324234466068447,
                        "pitch": -0.44885268807411194,
                        "yaw": -170.7061004638672
                    }
                },
                "velocity": {
                    "x": -7.426666259765625,
                    "y": -1.2095246315002441,
                    "z": -0.05824843421578407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011509168893098831,
        "expert_target_speed": 7.965646846390099,
        "target_point": [
            12.137839417392064,
            -0.02749000874668961
        ],
        "target_point_next": [
            63.13739526652744,
            -0.253694620515569
        ]
    },
    "165": {
        "acceleration": [
            0.12590408325195312,
            0.13068199157714844,
            -0.0048348307609558105
        ],
        "angular_velocity": [
            0.16832469403743744,
            -0.0620654858648777,
            -0.7753575444221497
        ],
        "forward_vector": [
            -0.9866024851799011,
            -0.16290715336799622,
            -0.00876963697373867
        ],
        "right_vector": [
            0.16291579604148865,
            -0.9866399168968201,
            -0.00027659034822136164
        ],
        "location": [
            3001.146484375,
            4263.90380859375,
            361.3203430175781
        ],
        "rotation": [
            0.01584806852042675,
            -0.5024696588516235,
            -170.62396240234375
        ],
        "velocity": [
            -7.116688251495361,
            -1.1612507104873657,
            -0.06550146639347076
        ],
        "speed": 7.210808198917754,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.70271301269531,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.680026054382324,
                "transform": {
                    "location": {
                        "x": 3035.35546875,
                        "y": 4269.3828125,
                        "z": 361.6663513183594
                    },
                    "rotation": {
                        "roll": -0.008453365415334702,
                        "pitch": -0.7580826282501221,
                        "yaw": -170.16407775878906
                    }
                },
                "velocity": {
                    "x": -5.5941619873046875,
                    "y": -0.9768617749214172,
                    "z": 0.11741601675748825
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.60927677154541,
                "transform": {
                    "location": {
                        "x": 2938.875244140625,
                        "y": 4263.71240234375,
                        "z": 360.8062438964844
                    },
                    "rotation": {
                        "roll": 0.006825157906860113,
                        "pitch": 0.42941397428512573,
                        "yaw": 9.709330558776855
                    }
                },
                "velocity": {
                    "x": 6.511963844299316,
                    "y": 1.1289467811584473,
                    "z": 0.048431701958179474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.731685161590576,
                "transform": {
                    "location": {
                        "x": 2939.4609375,
                        "y": 4260.51416015625,
                        "z": 360.792724609375
                    },
                    "rotation": {
                        "roll": 0.0013444913784042,
                        "pitch": 0.4118672013282776,
                        "yaw": 9.754867553710938
                    }
                },
                "velocity": {
                    "x": 6.632510185241699,
                    "y": 1.1503318548202515,
                    "z": 0.04615143686532974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7376556396484375,
                "transform": {
                    "location": {
                        "x": 3030.559814453125,
                        "y": 4271.8642578125,
                        "z": 361.6156311035156
                    },
                    "rotation": {
                        "roll": -0.004241945222020149,
                        "pitch": -0.6317378282546997,
                        "yaw": -170.44158935546875
                    }
                },
                "velocity": {
                    "x": -7.63107967376709,
                    "y": -1.2776826620101929,
                    "z": -0.07394468784332275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067681312561035,
                "transform": {
                    "location": {
                        "x": 3018.83935546875,
                        "y": 4266.64794921875,
                        "z": 361.48199462890625
                    },
                    "rotation": {
                        "roll": 0.0003385948366485536,
                        "pitch": -0.572567880153656,
                        "yaw": -170.77151489257812
                    }
                },
                "velocity": {
                    "x": -7.96315860748291,
                    "y": -1.2922109365463257,
                    "z": -0.07603742182254791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.557031631469727,
                "transform": {
                    "location": {
                        "x": 3004.67529296875,
                        "y": 4267.6455078125,
                        "z": 361.36651611328125
                    },
                    "rotation": {
                        "roll": 0.00019139944924972951,
                        "pitch": -0.5047851204872131,
                        "yaw": -170.8175506591797
                    }
                },
                "velocity": {
                    "x": -15.35680866241455,
                    "y": -2.4837589263916016,
                    "z": -0.14359313249588013
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.028770446777344,
                "transform": {
                    "location": {
                        "x": 2979.908447265625,
                        "y": 4270.41357421875,
                        "z": 361.1422119140625
                    },
                    "rotation": {
                        "roll": -0.0030517589766532183,
                        "pitch": 0.5328161716461182,
                        "yaw": 9.026510238647461
                    }
                },
                "velocity": {
                    "x": 7.9249587059021,
                    "y": 1.2848845720291138,
                    "z": 0.07251138240098953
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01225757598877,
                "transform": {
                    "location": {
                        "x": 2980.12158203125,
                        "y": 4267.166015625,
                        "z": 361.1343688964844
                    },
                    "rotation": {
                        "roll": 0.002206990960985422,
                        "pitch": 0.5261704325675964,
                        "yaw": 9.198009490966797
                    }
                },
                "velocity": {
                    "x": 7.908860683441162,
                    "y": 1.2810229063034058,
                    "z": 0.07190080732107162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.887998104095459,
                "transform": {
                    "location": {
                        "x": 3022.64794921875,
                        "y": 4277.34130859375,
                        "z": 361.5340576171875
                    },
                    "rotation": {
                        "roll": -0.00030517386039718986,
                        "pitch": 0.5323927402496338,
                        "yaw": 9.20739459991455
                    }
                },
                "velocity": {
                    "x": 6.799291133880615,
                    "y": 1.0999048948287964,
                    "z": 0.06610357016324997
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.575733661651611,
                "transform": {
                    "location": {
                        "x": 2970.939697265625,
                        "y": 4262.185546875,
                        "z": 361.08636474609375
                    },
                    "rotation": {
                        "roll": 0.0009407047764398158,
                        "pitch": -0.5476991534233093,
                        "yaw": -170.79580688476562
                    }
                },
                "velocity": {
                    "x": -7.478234767913818,
                    "y": -1.2097070217132568,
                    "z": -0.0660049095749855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.870035171508789,
                "transform": {
                    "location": {
                        "x": 3022.544921875,
                        "y": 4274.0322265625,
                        "z": 361.54290771484375
                    },
                    "rotation": {
                        "roll": -0.00018310443556401879,
                        "pitch": 0.48946499824523926,
                        "yaw": 9.166666030883789
                    }
                },
                "velocity": {
                    "x": 6.781606197357178,
                    "y": 1.096775770187378,
                    "z": 0.06544379889965057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.769404411315918,
                "transform": {
                    "location": {
                        "x": 2953.220458984375,
                        "y": 4259.3232421875,
                        "z": 360.8971252441406
                    },
                    "rotation": {
                        "roll": -0.00027465965831652284,
                        "pitch": -0.4377467930316925,
                        "yaw": -170.74671936035156
                    }
                },
                "velocity": {
                    "x": -7.668393611907959,
                    "y": -1.2472951412200928,
                    "z": -0.06037331372499466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011674909852445126,
        "expert_target_speed": 8.000162630378144,
        "target_point": [
            10.3395881037774,
            -0.013243909549663702
        ],
        "target_point_next": [
            61.33938114493585,
            -0.17748487420489667
        ]
    },
    "170": {
        "acceleration": [
            -0.4911041259765625,
            0.01455068588256836,
            -0.025496333837509155
        ],
        "angular_velocity": [
            0.030360199511051178,
            0.029103947803378105,
            -0.6598214507102966
        ],
        "forward_vector": [
            -0.9871094822883606,
            -0.15979667007923126,
            -0.008941054344177246
        ],
        "right_vector": [
            0.1598069965839386,
            -0.9871481657028198,
            -0.0004473974695429206
        ],
        "location": [
            2999.35986328125,
            4263.6142578125,
            361.30377197265625
        ],
        "rotation": [
            0.025635013356804848,
            -0.5122914910316467,
            -170.80453491210938
        ],
        "velocity": [
            -7.1737565994262695,
            -1.149802803993225,
            -0.06766491383314133
        ],
        "speed": 7.265316939809483,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 67.89289093017578,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.321475505828857,
                "transform": {
                    "location": {
                        "x": 3034.01220703125,
                        "y": 4269.15283203125,
                        "z": 361.6579895019531
                    },
                    "rotation": {
                        "roll": 0.011696795001626015,
                        "pitch": -0.7096565961837769,
                        "yaw": -170.2295379638672
                    }
                },
                "velocity": {
                    "x": -5.245512008666992,
                    "y": -0.8888586759567261,
                    "z": -0.11240022629499435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4984002113342285,
                "transform": {
                    "location": {
                        "x": 2940.489013671875,
                        "y": 4263.9912109375,
                        "z": 360.818359375
                    },
                    "rotation": {
                        "roll": 0.005694602616131306,
                        "pitch": 0.424277663230896,
                        "yaw": 9.792734146118164
                    }
                },
                "velocity": {
                    "x": 6.402490615844727,
                    "y": 1.111328125,
                    "z": 0.047621048986911774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.625463485717773,
                "transform": {
                    "location": {
                        "x": 2940.97607421875,
                        "y": 4260.77685546875,
                        "z": 360.80401611328125
                    },
                    "rotation": {
                        "roll": 0.003980598878115416,
                        "pitch": 0.36215710639953613,
                        "yaw": 9.82528305053711
                    }
                },
                "velocity": {
                    "x": 5.542265892028809,
                    "y": 0.9630463123321533,
                    "z": 0.040893904864788055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.37324047088623,
                "transform": {
                    "location": {
                        "x": 3028.40576171875,
                        "y": 4271.50537109375,
                        "z": 361.59521484375
                    },
                    "rotation": {
                        "roll": -0.0076904273591935635,
                        "pitch": -0.698905885219574,
                        "yaw": -170.56076049804688
                    }
                },
                "velocity": {
                    "x": -9.248434066772461,
                    "y": -1.5218567848205566,
                    "z": -0.08981961756944656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.48076343536377,
                "transform": {
                    "location": {
                        "x": 3016.818603515625,
                        "y": 4266.3203125,
                        "z": 361.46221923828125
                    },
                    "rotation": {
                        "roll": 7.75333319325e-05,
                        "pitch": -0.533075749874115,
                        "yaw": -170.78585815429688
                    }
                },
                "velocity": {
                    "x": -8.37094783782959,
                    "y": -1.3579784631729126,
                    "z": -0.08046137541532516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 15.039031982421875,
                "transform": {
                    "location": {
                        "x": 3000.863037109375,
                        "y": 4267.02880859375,
                        "z": 361.3316345214844
                    },
                    "rotation": {
                        "roll": 0.0001415042206645012,
                        "pitch": -0.6060767769813538,
                        "yaw": -170.80801391601562
                    }
                },
                "velocity": {
                    "x": -14.845394134521484,
                    "y": -2.4015445709228516,
                    "z": -0.13908718526363373
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.060752868652344,
                "transform": {
                    "location": {
                        "x": 2981.89501953125,
                        "y": 4270.73486328125,
                        "z": 361.1605529785156
                    },
                    "rotation": {
                        "roll": -0.0009765645954757929,
                        "pitch": 0.5255966782569885,
                        "yaw": 9.023970603942871
                    }
                },
                "velocity": {
                    "x": 7.956969261169434,
                    "y": 1.2872531414031982,
                    "z": 0.07316518574953079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039501190185547,
                "transform": {
                    "location": {
                        "x": 2982.103759765625,
                        "y": 4267.4873046875,
                        "z": 361.15264892578125
                    },
                    "rotation": {
                        "roll": 0.00013813740224577487,
                        "pitch": 0.5418866872787476,
                        "yaw": 9.226007461547852
                    }
                },
                "velocity": {
                    "x": 7.935512542724609,
                    "y": 1.2868326902389526,
                    "z": 0.07273637503385544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.656437397003174,
                "transform": {
                    "location": {
                        "x": 3024.317138671875,
                        "y": 4277.61181640625,
                        "z": 361.55023193359375
                    },
                    "rotation": {
                        "roll": -0.000274656864348799,
                        "pitch": 0.5336699485778809,
                        "yaw": 9.169572830200195
                    }
                },
                "velocity": {
                    "x": 6.570672512054443,
                    "y": 1.0630918741226196,
                    "z": 0.06524354964494705
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.246830940246582,
                "transform": {
                    "location": {
                        "x": 2969.140869140625,
                        "y": 4261.89404296875,
                        "z": 361.0706481933594
                    },
                    "rotation": {
                        "roll": 0.0018142914632335305,
                        "pitch": -0.5354253053665161,
                        "yaw": -170.83265686035156
                    }
                },
                "velocity": {
                    "x": -7.1539530754089355,
                    "y": -1.1548749208450317,
                    "z": -0.0614670068025589
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.721591949462891,
                "transform": {
                    "location": {
                        "x": 3024.326171875,
                        "y": 4274.31982421875,
                        "z": 361.5606689453125
                    },
                    "rotation": {
                        "roll": -0.0006408723420463502,
                        "pitch": 0.43606656789779663,
                        "yaw": 9.189338684082031
                    }
                },
                "velocity": {
                    "x": 7.621786117553711,
                    "y": 1.2352818250656128,
                    "z": 0.07373116910457611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3754,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.383450984954834,
                "transform": {
                    "location": {
                        "x": 2951.35986328125,
                        "y": 4259.0205078125,
                        "z": 360.882568359375
                    },
                    "rotation": {
                        "roll": 0.001834613154642284,
                        "pitch": -0.45177599787712097,
                        "yaw": -170.7703399658203
                    }
                },
                "velocity": {
                    "x": -7.287739276885986,
                    "y": -1.183624029159546,
                    "z": -0.05692361667752266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.021570725366473198,
        "expert_target_speed": 8.044020620781486,
        "target_point": [
            8.529646320885494,
            0.019017970635279324
        ],
        "target_point_next": [
            59.52970370274958,
            0.015499159013861785
        ]
    },
    "175": {
        "acceleration": [
            0.18502235412597656,
            0.09340524673461914,
            -0.00016361474990844727
        ],
        "angular_velocity": [
            0.003780444385483861,
            -0.08292296528816223,
            -0.5589661598205566
        ],
        "forward_vector": [
            -0.9875267744064331,
            -0.15719236433506012,
            -0.009031171910464764
        ],
        "right_vector": [
            0.15720316767692566,
            -0.9875661730766296,
            -0.000495252781547606
        ],
        "location": [
            2997.5634765625,
            4263.328125,
            361.2870178222656
        ],
        "rotation": [
            0.028377052396535873,
            -0.5174551010131836,
            -170.95565795898438
        ],
        "velocity": [
            -7.197992324829102,
            -1.1359602212905884,
            -0.06827990710735321
        ],
        "speed": 7.287077544026358,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.07405853271484,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.3973894119262695,
                "transform": {
                    "location": {
                        "x": 3032.604248046875,
                        "y": 4268.9140625,
                        "z": 361.62786865234375
                    },
                    "rotation": {
                        "roll": 0.0026370426639914513,
                        "pitch": -0.36248496174812317,
                        "yaw": -170.3289031982422
                    }
                },
                "velocity": {
                    "x": -6.308004856109619,
                    "y": -1.0618032217025757,
                    "z": -0.09079212695360184
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.009588241577148,
                "transform": {
                    "location": {
                        "x": 2942.012939453125,
                        "y": 4264.24951171875,
                        "z": 360.82952880859375
                    },
                    "rotation": {
                        "roll": -0.0014648443320766091,
                        "pitch": 0.46848946809768677,
                        "yaw": 9.648053169250488
                    }
                },
                "velocity": {
                    "x": 5.926852703094482,
                    "y": 0.9927453398704529,
                    "z": 0.04500842094421387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.715838432312012,
                "transform": {
                    "location": {
                        "x": 2942.34521484375,
                        "y": 4261.0087890625,
                        "z": 360.8139343261719
                    },
                    "rotation": {
                        "roll": 0.007991406135261059,
                        "pitch": 0.4170103371143341,
                        "yaw": 9.68654727935791
                    }
                },
                "velocity": {
                    "x": 5.637017250061035,
                    "y": 0.9450158476829529,
                    "z": 0.042323559522628784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.269096374511719,
                "transform": {
                    "location": {
                        "x": 3025.976806640625,
                        "y": 4271.10546875,
                        "z": 361.5712890625
                    },
                    "rotation": {
                        "roll": -0.002685538260266185,
                        "pitch": -0.6512380242347717,
                        "yaw": -170.65321350097656
                    }
                },
                "velocity": {
                    "x": -10.133047103881836,
                    "y": -1.6631733179092407,
                    "z": -0.09777224063873291
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.611248016357422,
                "transform": {
                    "location": {
                        "x": 3014.8017578125,
                        "y": 4265.9931640625,
                        "z": 361.4432373046875
                    },
                    "rotation": {
                        "roll": 4.445520607987419e-05,
                        "pitch": -0.5809007287025452,
                        "yaw": -170.78639221191406
                    }
                },
                "velocity": {
                    "x": -7.512698650360107,
                    "y": -1.2187080383300781,
                    "z": -0.0721706748008728
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.977209091186523,
                "transform": {
                    "location": {
                        "x": 2997.2939453125,
                        "y": 4266.45166015625,
                        "z": 361.2997131347656
                    },
                    "rotation": {
                        "roll": 0.00015486107440665364,
                        "pitch": -0.7856698036193848,
                        "yaw": -170.82449340820312
                    }
                },
                "velocity": {
                    "x": -13.79738998413086,
                    "y": -2.2310712337493896,
                    "z": -0.12935079634189606
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004474639892578,
                "transform": {
                    "location": {
                        "x": 2983.87548828125,
                        "y": 4271.0556640625,
                        "z": 361.1788635253906
                    },
                    "rotation": {
                        "roll": -0.0023498516529798508,
                        "pitch": 0.5284653902053833,
                        "yaw": 9.015970230102539
                    }
                },
                "velocity": {
                    "x": 7.901259422302246,
                    "y": 1.2792603969573975,
                    "z": 0.07215738296508789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013666152954102,
                "transform": {
                    "location": {
                        "x": 2984.083984375,
                        "y": 4267.80810546875,
                        "z": 361.1710205078125
                    },
                    "rotation": {
                        "roll": 0.0010587050346657634,
                        "pitch": 0.5325156450271606,
                        "yaw": 9.189162254333496
                    }
                },
                "velocity": {
                    "x": 7.910361289978027,
                    "y": 1.2805439233779907,
                    "z": 0.07241600006818771
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.440705299377441,
                "transform": {
                    "location": {
                        "x": 3025.932373046875,
                        "y": 4277.87255859375,
                        "z": 361.5658874511719
                    },
                    "rotation": {
                        "roll": 6.470618973253295e-05,
                        "pitch": 0.5356302261352539,
                        "yaw": 9.207422256469727
                    }
                },
                "velocity": {
                    "x": 6.35775089263916,
                    "y": 1.028527855873108,
                    "z": 0.061796341091394424
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.174348831176758,
                "transform": {
                    "location": {
                        "x": 2967.2509765625,
                        "y": 4261.5888671875,
                        "z": 361.053466796875
                    },
                    "rotation": {
                        "roll": 0.0011745169758796692,
                        "pitch": -0.4186427593231201,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -8.069350242614746,
                    "y": -1.3041542768478394,
                    "z": -0.06894510984420776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.972614765167236,
                "transform": {
                    "location": {
                        "x": 3026.154296875,
                        "y": 4274.6162109375,
                        "z": 361.5771789550781
                    },
                    "rotation": {
                        "roll": -9.15520649868995e-05,
                        "pitch": 0.5902034640312195,
                        "yaw": 9.193673133850098
                    }
                },
                "velocity": {
                    "x": 6.882728099822998,
                    "y": 1.1139607429504395,
                    "z": 0.06708735972642899
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.031364958733320236,
        "expert_target_speed": 8.061421509358093,
        "target_point": [
            57.710423848029265,
            0.17231640086946953
        ],
        "target_point_next": [
            108.71031313718288,
            0.3033042993134778
        ]
    },
    "180": {
        "acceleration": [
            -0.43051719665527344,
            -0.02032756805419922,
            -0.002986043691635132
        ],
        "angular_velocity": [
            -0.0225154310464859,
            0.03919414430856705,
            -0.3627759516239166
        ],
        "forward_vector": [
            -0.9878182411193848,
            -0.1553456336259842,
            -0.009099834598600864
        ],
        "right_vector": [
            0.15535566210746765,
            -0.9878585338592529,
            -0.00040149016422219574
        ],
        "location": [
            2995.758056640625,
            4263.04443359375,
            361.2701416015625
        ],
        "rotation": [
            0.023004643619060516,
            -0.5213893055915833,
            -171.0627899169922
        ],
        "velocity": [
            -7.242207050323486,
            -1.132664680480957,
            -0.06801136583089828
        ],
        "speed": 7.330245032614138,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.24677276611328,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.619246482849121,
                "transform": {
                    "location": {
                        "x": 3030.810546875,
                        "y": 4268.61181640625,
                        "z": 361.6077575683594
                    },
                    "rotation": {
                        "roll": 0.0004323949106037617,
                        "pitch": -0.17160166800022125,
                        "yaw": -170.4722442626953
                    }
                },
                "velocity": {
                    "x": -7.51395845413208,
                    "y": -1.2606699466705322,
                    "z": -0.06369063258171082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.466659069061279,
                "transform": {
                    "location": {
                        "x": 2943.532470703125,
                        "y": 4264.50439453125,
                        "z": 360.841552734375
                    },
                    "rotation": {
                        "roll": 0.0008930480107665062,
                        "pitch": 0.3915269076824188,
                        "yaw": 9.538025856018066
                    }
                },
                "velocity": {
                    "x": 6.377795696258545,
                    "y": 1.0672787427902222,
                    "z": 0.048116378486156464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2666850090026855,
                "transform": {
                    "location": {
                        "x": 2943.87060546875,
                        "y": 4261.26513671875,
                        "z": 360.82470703125
                    },
                    "rotation": {
                        "roll": 0.004379704128950834,
                        "pitch": 0.5133091807365417,
                        "yaw": 9.609189987182617
                    }
                },
                "velocity": {
                    "x": 7.1666483879089355,
                    "y": 1.2004010677337646,
                    "z": 0.05384514853358269
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.173240661621094,
                "transform": {
                    "location": {
                        "x": 3023.325927734375,
                        "y": 4270.67138671875,
                        "z": 361.54547119140625
                    },
                    "rotation": {
                        "roll": -0.00457763671875,
                        "pitch": -0.6369287371635437,
                        "yaw": -170.70840454101562
                    }
                },
                "velocity": {
                    "x": -11.027109146118164,
                    "y": -1.7979954481124878,
                    "z": -0.10666143894195557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.815691947937012,
                "transform": {
                    "location": {
                        "x": 3013.049072265625,
                        "y": 4265.70849609375,
                        "z": 361.4264831542969
                    },
                    "rotation": {
                        "roll": -0.0004577576764859259,
                        "pitch": -0.598358690738678,
                        "yaw": -170.79580688476562
                    }
                },
                "velocity": {
                    "x": -6.727672576904297,
                    "y": -1.0899149179458618,
                    "z": -0.06453017145395279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.115141868591309,
                "transform": {
                    "location": {
                        "x": 2993.955322265625,
                        "y": 4265.912109375,
                        "z": 361.2681884765625
                    },
                    "rotation": {
                        "roll": 0.0002356611075811088,
                        "pitch": -0.7386166453361511,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -12.946382522583008,
                    "y": -2.0936760902404785,
                    "z": -0.12101723998785019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.073164939880371,
                "transform": {
                    "location": {
                        "x": 2985.86083984375,
                        "y": 4271.376953125,
                        "z": 361.19732666015625
                    },
                    "rotation": {
                        "roll": 0.0011484759161248803,
                        "pitch": 0.536702573299408,
                        "yaw": 9.025138854980469
                    }
                },
                "velocity": {
                    "x": 7.969330787658691,
                    "y": 1.2885525226593018,
                    "z": 0.07343944162130356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025309562683105,
                "transform": {
                    "location": {
                        "x": 2986.0625,
                        "y": 4268.12841796875,
                        "z": 361.1893615722656
                    },
                    "rotation": {
                        "roll": 0.0012633111327886581,
                        "pitch": 0.541531503200531,
                        "yaw": 9.213963508605957
                    }
                },
                "velocity": {
                    "x": 7.921733379364014,
                    "y": 1.2831355333328247,
                    "z": 0.07278773933649063
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.209466934204102,
                "transform": {
                    "location": {
                        "x": 3027.4921875,
                        "y": 4278.125,
                        "z": 361.58099365234375
                    },
                    "rotation": {
                        "roll": 0.00047684667515568435,
                        "pitch": 0.5349199175834656,
                        "yaw": 9.165312767028809
                    }
                },
                "velocity": {
                    "x": 6.129616737365723,
                    "y": 0.990802526473999,
                    "z": 0.05991654098033905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.618192672729492,
                "transform": {
                    "location": {
                        "x": 2965.051513671875,
                        "y": 4261.23388671875,
                        "z": 361.03411865234375
                    },
                    "rotation": {
                        "roll": -3.0517960112774745e-05,
                        "pitch": -0.3460651636123657,
                        "yaw": -170.82522583007812
                    }
                },
                "velocity": {
                    "x": -9.494638442993164,
                    "y": -1.5346059799194336,
                    "z": -0.08033125102519989
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.167638778686523,
                "transform": {
                    "location": {
                        "x": 3027.74951171875,
                        "y": 4274.8740234375,
                        "z": 361.5924072265625
                    },
                    "rotation": {
                        "roll": -0.0003356927481945604,
                        "pitch": 0.6198464632034302,
                        "yaw": 9.189499855041504
                    }
                },
                "velocity": {
                    "x": 6.08824348449707,
                    "y": 0.9846320152282715,
                    "z": 0.059643227607011795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.582620620727539,
                "transform": {
                    "location": {
                        "x": 3039.325927734375,
                        "y": 4273.3544921875,
                        "z": 361.8907775878906
                    },
                    "rotation": {
                        "roll": 3.335208553778557e-09,
                        "pitch": -0.5532453060150146,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -7.211877346038818,
                    "y": -1.1669820547103882,
                    "z": -2.0305442810058594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04061559587717056,
        "expert_target_speed": 8.095926608061985,
        "target_point": [
            55.88242813511481,
            0.2804447174124487
        ],
        "target_point_next": [
            106.88198337908253,
            0.5067857277243988
        ]
    },
    "185": {
        "acceleration": [
            0.1996326446533203,
            -0.011169910430908203,
            0.013369917869567871
        ],
        "angular_velocity": [
            -0.12482942640781403,
            -0.07621470838785172,
            -0.09612084925174713
        ],
        "forward_vector": [
            -0.9880178570747375,
            -0.1540694534778595,
            -0.009125462733209133
        ],
        "right_vector": [
            0.15407836437225342,
            -0.9880585670471191,
            -0.00027699777274392545
        ],
        "location": [
            2993.94580078125,
            4262.76123046875,
            361.2532043457031
        ],
        "rotation": [
            0.01587146520614624,
            -0.5228577852249146,
            -171.1367950439453
        ],
        "velocity": [
            -7.256420135498047,
            -1.1302448511123657,
            -0.06739212572574615
        ],
        "speed": 7.343914937302005,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 62.412864685058594,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.477858543395996,
                "transform": {
                    "location": {
                        "x": 3028.73779296875,
                        "y": 4268.2666015625,
                        "z": 361.5911560058594
                    },
                    "rotation": {
                        "roll": 0.010083499364554882,
                        "pitch": -0.3376162350177765,
                        "yaw": -170.55386352539062
                    }
                },
                "velocity": {
                    "x": -8.363927841186523,
                    "y": -1.3831193447113037,
                    "z": -0.07597651332616806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.128734588623047,
                "transform": {
                    "location": {
                        "x": 2945.2392578125,
                        "y": 4264.79052734375,
                        "z": 360.85467529296875
                    },
                    "rotation": {
                        "roll": 0.0005590167711488903,
                        "pitch": 0.3728053569793701,
                        "yaw": 9.49389362335205
                    }
                },
                "velocity": {
                    "x": 7.031045913696289,
                    "y": 1.174878716468811,
                    "z": 0.053937241435050964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.485081672668457,
                "transform": {
                    "location": {
                        "x": 2945.86376953125,
                        "y": 4261.59912109375,
                        "z": 360.8397216796875
                    },
                    "rotation": {
                        "roll": 0.0035020129289478064,
                        "pitch": 0.5197568535804749,
                        "yaw": 9.522340774536133
                    }
                },
                "velocity": {
                    "x": 8.368446350097656,
                    "y": 1.4006173610687256,
                    "z": 0.06308286637067795
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.984559059143066,
                "transform": {
                    "location": {
                        "x": 3020.46484375,
                        "y": 4270.205078125,
                        "z": 361.5177001953125
                    },
                    "rotation": {
                        "roll": -0.0011596683179959655,
                        "pitch": -0.6308909058570862,
                        "yaw": -170.75027465820312
                    }
                },
                "velocity": {
                    "x": -11.828177452087402,
                    "y": -1.9263805150985718,
                    "z": -0.11375726759433746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.158352851867676,
                "transform": {
                    "location": {
                        "x": 3011.345947265625,
                        "y": 4265.4326171875,
                        "z": 361.40972900390625
                    },
                    "rotation": {
                        "roll": 3.930530874640681e-05,
                        "pitch": -0.5340865850448608,
                        "yaw": -170.79849243164062
                    }
                },
                "velocity": {
                    "x": -7.066176414489746,
                    "y": -1.1431238651275635,
                    "z": -0.06657242774963379
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.74999713897705,
                "transform": {
                    "location": {
                        "x": 2990.897216796875,
                        "y": 4265.4169921875,
                        "z": 361.240234375
                    },
                    "rotation": {
                        "roll": 0.0002909257309511304,
                        "pitch": -0.8096300959587097,
                        "yaw": -170.81687927246094
                    }
                },
                "velocity": {
                    "x": -11.598608016967773,
                    "y": -1.8769631385803223,
                    "z": -0.10825003683567047
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001556396484375,
                "transform": {
                    "location": {
                        "x": 2987.84375,
                        "y": 4271.697265625,
                        "z": 361.2158508300781
                    },
                    "rotation": {
                        "roll": 0.00021371939510572702,
                        "pitch": 0.5316209197044373,
                        "yaw": 9.00497817993164
                    }
                },
                "velocity": {
                    "x": 7.898653984069824,
                    "y": 1.2770317792892456,
                    "z": 0.07322370260953903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026691436767578,
                "transform": {
                    "location": {
                        "x": 2988.043701171875,
                        "y": 4268.44873046875,
                        "z": 361.2079162597656
                    },
                    "rotation": {
                        "roll": 0.0008600819855928421,
                        "pitch": 0.5421052575111389,
                        "yaw": 9.185720443725586
                    }
                },
                "velocity": {
                    "x": 7.923311710357666,
                    "y": 1.2820451259613037,
                    "z": 0.072550468146801
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.000034809112549,
                "transform": {
                    "location": {
                        "x": 3028.9970703125,
                        "y": 4278.3681640625,
                        "z": 361.5956115722656
                    },
                    "rotation": {
                        "roll": -0.00012207495456095785,
                        "pitch": 0.535923957824707,
                        "yaw": 9.20790958404541
                    }
                },
                "velocity": {
                    "x": 5.922580242156982,
                    "y": 0.9593177437782288,
                    "z": 0.05627378448843956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 10.670313835144043,
                "transform": {
                    "location": {
                        "x": 2962.573486328125,
                        "y": 4260.83349609375,
                        "z": 361.0134582519531
                    },
                    "rotation": {
                        "roll": -3.0512977900798433e-05,
                        "pitch": -0.35230115056037903,
                        "yaw": -170.83058166503906
                    }
                },
                "velocity": {
                    "x": -10.533486366271973,
                    "y": -1.7010337114334106,
                    "z": -0.0880112424492836
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.925326347351074,
                "transform": {
                    "location": {
                        "x": 3029.121826171875,
                        "y": 4275.0966796875,
                        "z": 361.6052551269531
                    },
                    "rotation": {
                        "roll": 0.0002946219756267965,
                        "pitch": 0.6686891317367554,
                        "yaw": 9.188624382019043
                    }
                },
                "velocity": {
                    "x": 4.86194372177124,
                    "y": 0.7864726781845093,
                    "z": 0.04246341437101364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.015583038330078,
                "transform": {
                    "location": {
                        "x": 3037.565673828125,
                        "y": 4273.06103515625,
                        "z": 361.6360778808594
                    },
                    "rotation": {
                        "roll": -0.02346801944077015,
                        "pitch": -0.5702797770500183,
                        "yaw": -170.50161743164062
                    }
                },
                "velocity": {
                    "x": -6.915523052215576,
                    "y": -1.1776626110076904,
                    "z": 0.08401086926460266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05140973627567291,
        "expert_target_speed": 8.10675342267708,
        "target_point": [
            54.04776856334508,
            0.35206014240408656
        ],
        "target_point_next": [
            105.0469887421195,
            0.6443040343050388
        ]
    },
    "190": {
        "acceleration": [
            -0.46126365661621094,
            -0.15857458114624023,
            0.007083117961883545
        ],
        "angular_velocity": [
            -0.043259162455797195,
            0.06439729034900665,
            0.5794034004211426
        ],
        "forward_vector": [
            -0.9877615571022034,
            -0.15570668876171112,
            -0.009084456600248814
        ],
        "right_vector": [
            0.15571124851703644,
            -0.9878026247024536,
            0.00020825059618800879
        ],
        "location": [
            2992.125244140625,
            4262.474609375,
            361.2362060546875
        ],
        "rotation": [
            -0.011932372115552425,
            -0.5205081701278687,
            -171.04183959960938
        ],
        "velocity": [
            -7.306009769439697,
            -1.1615371704101562,
            -0.06853251159191132
        ],
        "speed": 7.397766375696973,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.57020568847656,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.87756872177124,
                "transform": {
                    "location": {
                        "x": 3026.851806640625,
                        "y": 4267.953125,
                        "z": 361.57843017578125
                    },
                    "rotation": {
                        "roll": 0.01071661151945591,
                        "pitch": -0.9938334226608276,
                        "yaw": -170.86697387695312
                    }
                },
                "velocity": {
                    "x": -5.800136566162109,
                    "y": -0.9491521120071411,
                    "z": -0.0578235387802124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.63811206817627,
                "transform": {
                    "location": {
                        "x": 2947.2783203125,
                        "y": 4265.126953125,
                        "z": 360.8709411621094
                    },
                    "rotation": {
                        "roll": -0.001281738979741931,
                        "pitch": 0.3038477897644043,
                        "yaw": 9.386338233947754
                    }
                },
                "velocity": {
                    "x": 8.523512840270996,
                    "y": 1.4008712768554688,
                    "z": 0.06531638652086258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.907488822937012,
                "transform": {
                    "location": {
                        "x": 2947.8876953125,
                        "y": 4261.93408203125,
                        "z": 360.85601806640625
                    },
                    "rotation": {
                        "roll": 0.003712072968482971,
                        "pitch": 0.4317020773887634,
                        "yaw": 9.386691093444824
                    }
                },
                "velocity": {
                    "x": 7.80242395401001,
                    "y": 1.283347249031067,
                    "z": 0.05986342206597328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.762932777404785,
                "transform": {
                    "location": {
                        "x": 3017.40185546875,
                        "y": 4269.70654296875,
                        "z": 361.4880676269531
                    },
                    "rotation": {
                        "roll": 0.000506407639477402,
                        "pitch": -0.6222233772277832,
                        "yaw": -170.76669311523438
                    }
                },
                "velocity": {
                    "x": -12.597329139709473,
                    "y": -2.0457968711853027,
                    "z": -0.12028512358665466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.756282806396484,
                "transform": {
                    "location": {
                        "x": 3009.512451171875,
                        "y": 4265.13623046875,
                        "z": 361.3921813964844
                    },
                    "rotation": {
                        "roll": 0.0013298435369506478,
                        "pitch": -0.502715528011322,
                        "yaw": -170.80751037597656
                    }
                },
                "velocity": {
                    "x": -7.656719207763672,
                    "y": -1.2366795539855957,
                    "z": -0.07208015769720078
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.741013526916504,
                "transform": {
                    "location": {
                        "x": 2988.029541015625,
                        "y": 4264.953125,
                        "z": 361.2118225097656
                    },
                    "rotation": {
                        "roll": 0.0002028664166573435,
                        "pitch": -0.6183164715766907,
                        "yaw": -170.79393005371094
                    }
                },
                "velocity": {
                    "x": -11.589608192443848,
                    "y": -1.87636137008667,
                    "z": -0.10793285816907883
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.070448875427246,
                "transform": {
                    "location": {
                        "x": 2989.826904296875,
                        "y": 4272.0185546875,
                        "z": 361.234375
                    },
                    "rotation": {
                        "roll": -0.004333494231104851,
                        "pitch": 0.535923957824707,
                        "yaw": 9.03623104095459
                    }
                },
                "velocity": {
                    "x": 7.965986728668213,
                    "y": 1.2922391891479492,
                    "z": 0.07296382635831833
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019529342651367,
                "transform": {
                    "location": {
                        "x": 2990.0234375,
                        "y": 4268.76904296875,
                        "z": 361.2263488769531
                    },
                    "rotation": {
                        "roll": 0.002180894371122122,
                        "pitch": 0.5388131141662598,
                        "yaw": 9.204426765441895
                    }
                },
                "velocity": {
                    "x": 7.916261196136475,
                    "y": 1.2807976007461548,
                    "z": 0.07225999981164932
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.798221588134766,
                "transform": {
                    "location": {
                        "x": 3030.4521484375,
                        "y": 4278.603515625,
                        "z": 361.60968017578125
                    },
                    "rotation": {
                        "roll": 0.0004356103600002825,
                        "pitch": 0.5362517833709717,
                        "yaw": 9.16823673248291
                    }
                },
                "velocity": {
                    "x": 5.723912715911865,
                    "y": 0.9236176013946533,
                    "z": 0.05593835562467575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.062530517578125,
                "transform": {
                    "location": {
                        "x": 2959.74462890625,
                        "y": 4260.3759765625,
                        "z": 360.98974609375
                    },
                    "rotation": {
                        "roll": -0.00042724699596874416,
                        "pitch": -0.3202265799045563,
                        "yaw": -170.8174285888672
                    }
                },
                "velocity": {
                    "x": -11.907509803771973,
                    "y": -1.925201177597046,
                    "z": -0.0971604585647583
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.215774059295654,
                "transform": {
                    "location": {
                        "x": 3030.380126953125,
                        "y": 4275.30029296875,
                        "z": 361.6185607910156
                    },
                    "rotation": {
                        "roll": -0.0004577634099405259,
                        "pitch": 0.5448783040046692,
                        "yaw": 9.169397354125977
                    }
                },
                "velocity": {
                    "x": 5.148671627044678,
                    "y": 0.8323713541030884,
                    "z": 0.05134647339582443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.340747356414795,
                "transform": {
                    "location": {
                        "x": 3035.84716796875,
                        "y": 4272.765625,
                        "z": 361.65155029296875
                    },
                    "rotation": {
                        "roll": -0.018524160608649254,
                        "pitch": -0.658293604850769,
                        "yaw": -170.231689453125
                    }
                },
                "velocity": {
                    "x": -6.247679233551025,
                    "y": -1.0823519229888916,
                    "z": 0.0097880270332098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05222273990511894,
        "expert_target_speed": 8.149615152863399,
        "target_point": [
            52.20529711729708,
            0.2628355897390353
        ],
        "target_point_next": [
            103.20493163196248,
            0.4705486273947912
        ]
    },
    "195": {
        "acceleration": [
            0.16623497009277344,
            -0.02111196517944336,
            0.005246549844741821
        ],
        "angular_velocity": [
            -0.0358707495033741,
            -0.06652916967868805,
            0.5393187999725342
        ],
        "forward_vector": [
            -0.987368106842041,
            -0.15818344056606293,
            -0.009069079533219337
        ],
        "right_vector": [
            0.15818655490875244,
            -0.9874091744422913,
            0.0003776206576731056
        ],
        "location": [
            2990.296142578125,
            4262.18212890625,
            361.21917724609375
        ],
        "rotation": [
            -0.02163696102797985,
            -0.5196270942687988,
            -170.8981475830078
        ],
        "velocity": [
            -7.326075077056885,
            -1.182600498199463,
            -0.06829162687063217
        ],
        "speed": 7.420910993470792,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.7181282043457,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.78944730758667,
                "transform": {
                    "location": {
                        "x": 3025.4775390625,
                        "y": 4267.728515625,
                        "z": 361.5640563964844
                    },
                    "rotation": {
                        "roll": 0.00481244595721364,
                        "pitch": -0.908230721950531,
                        "yaw": -170.90829467773438
                    }
                },
                "velocity": {
                    "x": -5.713594436645508,
                    "y": -0.9324049353599548,
                    "z": -0.05624847859144211
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.047493934631348,
                "transform": {
                    "location": {
                        "x": 2949.33544921875,
                        "y": 4265.46533203125,
                        "z": 360.885498046875
                    },
                    "rotation": {
                        "roll": -0.00039672470302321017,
                        "pitch": 0.47243732213974,
                        "yaw": 9.339030265808105
                    }
                },
                "velocity": {
                    "x": 7.940901279449463,
                    "y": 1.303966760635376,
                    "z": 0.062473297119140625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014082908630371,
                "transform": {
                    "location": {
                        "x": 2949.83056640625,
                        "y": 4262.25341796875,
                        "z": 360.87103271484375
                    },
                    "rotation": {
                        "roll": 0.003320562420412898,
                        "pitch": 0.44530099630355835,
                        "yaw": 9.32892894744873
                    }
                },
                "velocity": {
                    "x": 7.908212661743164,
                    "y": 1.296915054321289,
                    "z": 0.060880258679389954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.493856430053711,
                "transform": {
                    "location": {
                        "x": 3014.29345703125,
                        "y": 4269.20263671875,
                        "z": 361.45758056640625
                    },
                    "rotation": {
                        "roll": -0.0007934572640806437,
                        "pitch": -0.5367435812950134,
                        "yaw": -170.79515075683594
                    }
                },
                "velocity": {
                    "x": -12.332734107971191,
                    "y": -1.996477484703064,
                    "z": -0.11919043958187103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.21579360961914,
                "transform": {
                    "location": {
                        "x": 3007.498779296875,
                        "y": 4264.81005859375,
                        "z": 361.3731994628906
                    },
                    "rotation": {
                        "roll": 0.00046759884571656585,
                        "pitch": -0.49902042746543884,
                        "yaw": -170.80972290039062
                    }
                },
                "velocity": {
                    "x": -8.109762191772461,
                    "y": -1.3135221004486084,
                    "z": -0.07540896534919739
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.385624885559082,
                "transform": {
                    "location": {
                        "x": 2985.0693359375,
                        "y": 4264.4736328125,
                        "z": 361.182373046875
                    },
                    "rotation": {
                        "roll": 0.0016981794033199549,
                        "pitch": -0.3790891468524933,
                        "yaw": -170.83804321289062
                    }
                },
                "velocity": {
                    "x": -12.22627067565918,
                    "y": -1.9771772623062134,
                    "z": -0.11309799551963806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006184577941895,
                "transform": {
                    "location": {
                        "x": 2991.810546875,
                        "y": 4272.33984375,
                        "z": 361.25286865234375
                    },
                    "rotation": {
                        "roll": -0.0009460453293286264,
                        "pitch": 0.532317578792572,
                        "yaw": 9.008090019226074
                    }
                },
                "velocity": {
                    "x": 7.903323173522949,
                    "y": 1.2771673202514648,
                    "z": 0.07299676537513733
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026052474975586,
                "transform": {
                    "location": {
                        "x": 2992.003173828125,
                        "y": 4269.08935546875,
                        "z": 361.244873046875
                    },
                    "rotation": {
                        "roll": -0.0001525954867247492,
                        "pitch": 0.5407665371894836,
                        "yaw": 9.17918586730957
                    }
                },
                "velocity": {
                    "x": 7.922616958618164,
                    "y": 1.2823234796524048,
                    "z": 0.07282451540231705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.5981831550598145,
                "transform": {
                    "location": {
                        "x": 3031.857177734375,
                        "y": 4278.83056640625,
                        "z": 361.6233825683594
                    },
                    "rotation": {
                        "roll": 3.6176908906782046e-05,
                        "pitch": 0.5369758009910583,
                        "yaw": 9.2077054977417
                    }
                },
                "velocity": {
                    "x": 5.5260844230651855,
                    "y": 0.8940081000328064,
                    "z": 0.05285971611738205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.090022087097168,
                "transform": {
                    "location": {
                        "x": 2956.634033203125,
                        "y": 4259.873046875,
                        "z": 360.9646301269531
                    },
                    "rotation": {
                        "roll": -0.001129153068177402,
                        "pitch": -0.33411234617233276,
                        "yaw": -170.81088256835938
                    }
                },
                "velocity": {
                    "x": -12.921247482299805,
                    "y": -2.0926945209503174,
                    "z": -0.10337788611650467
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.703751564025879,
                "transform": {
                    "location": {
                        "x": 3031.713134765625,
                        "y": 4275.515625,
                        "z": 361.63189697265625
                    },
                    "rotation": {
                        "roll": 0.0007491718861274421,
                        "pitch": 0.5035556554794312,
                        "yaw": 9.208988189697266
                    }
                },
                "velocity": {
                    "x": 5.630195617675781,
                    "y": 0.9115212559700012,
                    "z": 0.052985649555921555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.9870076179504395,
                "transform": {
                    "location": {
                        "x": 3034.35888671875,
                        "y": 4272.5078125,
                        "z": 361.6453857421875
                    },
                    "rotation": {
                        "roll": -0.002929685404524207,
                        "pitch": -0.6255769729614258,
                        "yaw": -170.2060089111328
                    }
                },
                "velocity": {
                    "x": -5.901477336883545,
                    "y": -1.0074043273925781,
                    "z": -0.044318787753582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.047827791422605515,
        "expert_target_speed": 8.167908696899957,
        "target_point": [
            50.35345387694936,
            0.13244340450552716
        ],
        "target_point_next": [
            101.35344895301232,
            0.2122405035665107
        ]
    },
    "200": {
        "acceleration": [
            -0.454254150390625,
            -0.1492762565612793,
            0.01249954104423523
        ],
        "angular_velocity": [
            -0.09206802397966385,
            0.059296298772096634,
            0.5316493511199951
        ],
        "forward_vector": [
            -0.9870078563690186,
            -0.160416841506958,
            -0.009051437489688396
        ],
        "right_vector": [
            0.16041965782642365,
            -0.9870488047599792,
            0.0004180990799795836
        ],
        "location": [
            2988.457763671875,
            4261.8837890625,
            361.2019958496094
        ],
        "rotation": [
            -0.023956293240189552,
            -0.518616259098053,
            -170.76852416992188
        ],
        "velocity": [
            -7.377472877502441,
            -1.2080556154251099,
            -0.06807858496904373
        ],
        "speed": 7.475727685532981,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.855899810791016,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2910.61767578125,
                        "y": 4259.111328125,
                        "z": 360.7190856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.40284454822540283,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2911.13671875,
                        "y": 4255.90283203125,
                        "z": 360.7190856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.40284454822540283,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.964716911315918,
                "transform": {
                    "location": {
                        "x": 3023.903076171875,
                        "y": 4267.474609375,
                        "z": 361.5433654785156
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.25075671076774597,
                        "yaw": -170.6642303466797
                    }
                },
                "velocity": {
                    "x": -6.873601913452148,
                    "y": -1.1209094524383545,
                    "z": -0.06663530319929123
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.849891185760498,
                "transform": {
                    "location": {
                        "x": 2951.27587890625,
                        "y": 4265.783203125,
                        "z": 360.9008483886719
                    },
                    "rotation": {
                        "roll": -0.0007934582536108792,
                        "pitch": 0.46198713779449463,
                        "yaw": 9.303543090820312
                    }
                },
                "velocity": {
                    "x": 7.747371196746826,
                    "y": 1.2630431652069092,
                    "z": 0.06126828119158745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.110499382019043,
                "transform": {
                    "location": {
                        "x": 2951.835205078125,
                        "y": 4262.58154296875,
                        "z": 360.8865966796875
                    },
                    "rotation": {
                        "roll": 0.0037942714989185333,
                        "pitch": 0.4524043798446655,
                        "yaw": 9.290948867797852
                    }
                },
                "velocity": {
                    "x": 8.00455093383789,
                    "y": 1.30509352684021,
                    "z": 0.06394132226705551
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.166217803955078,
                "transform": {
                    "location": {
                        "x": 3011.2578125,
                        "y": 4268.7109375,
                        "z": 361.42822265625
                    },
                    "rotation": {
                        "roll": -0.0007019030745141208,
                        "pitch": -0.5100716948509216,
                        "yaw": -170.80532836914062
                    }
                },
                "velocity": {
                    "x": -12.009340286254883,
                    "y": -1.944061040878296,
                    "z": -0.11498867720365524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2341437339782715,
                "transform": {
                    "location": {
                        "x": 3005.59814453125,
                        "y": 4264.5029296875,
                        "z": 361.35589599609375
                    },
                    "rotation": {
                        "roll": -0.0012512224493548274,
                        "pitch": -0.5790975689888,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -7.140764236450195,
                    "y": -1.1566314697265625,
                    "z": -0.06727682799100876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.170926094055176,
                "transform": {
                    "location": {
                        "x": 2981.89453125,
                        "y": 4263.96044921875,
                        "z": 361.15228271484375
                    },
                    "rotation": {
                        "roll": -9.155178122455254e-05,
                        "pitch": -0.2981240749359131,
                        "yaw": -170.81744384765625
                    }
                },
                "velocity": {
                    "x": -13.001405715942383,
                    "y": -2.102957010269165,
                    "z": -0.11968013644218445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066797256469727,
                "transform": {
                    "location": {
                        "x": 2993.7939453125,
                        "y": 4272.66064453125,
                        "z": 361.2713928222656
                    },
                    "rotation": {
                        "roll": -0.001953125698491931,
                        "pitch": 0.5351726412773132,
                        "yaw": 9.024904251098633
                    }
                },
                "velocity": {
                    "x": 7.962715148925781,
                    "y": 1.2895478010177612,
                    "z": 0.07387563586235046
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022491455078125,
                "transform": {
                    "location": {
                        "x": 2993.983642578125,
                        "y": 4269.40966796875,
                        "z": 361.2633361816406
                    },
                    "rotation": {
                        "roll": -0.0012207035906612873,
                        "pitch": 0.540097177028656,
                        "yaw": 9.212552070617676
                    }
                },
                "velocity": {
                    "x": 7.918823719024658,
                    "y": 1.2835098505020142,
                    "z": 0.07212970405817032
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.408261775970459,
                "transform": {
                    "location": {
                        "x": 3033.213623046875,
                        "y": 4279.05029296875,
                        "z": 361.6364440917969
                    },
                    "rotation": {
                        "roll": -0.0011901926482096314,
                        "pitch": 0.5369279980659485,
                        "yaw": 9.168926239013672
                    }
                },
                "velocity": {
                    "x": 5.338799476623535,
                    "y": 0.8623905777931213,
                    "z": 0.05288870632648468
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.586549758911133,
                "transform": {
                    "location": {
                        "x": 2953.31689453125,
                        "y": 4259.3359375,
                        "z": 360.9386291503906
                    },
                    "rotation": {
                        "roll": 4.207927850075066e-05,
                        "pitch": -0.37753185629844666,
                        "yaw": -170.8064727783203
                    }
                },
                "velocity": {
                    "x": -13.411619186401367,
                    "y": -2.1705498695373535,
                    "z": -0.10732105374336243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.602453708648682,
                "transform": {
                    "location": {
                        "x": 3033.1376953125,
                        "y": 4275.74658203125,
                        "z": 361.6452331542969
                    },
                    "rotation": {
                        "roll": -0.00012207178224343807,
                        "pitch": 0.5439494252204895,
                        "yaw": 9.16833782196045
                    }
                },
                "velocity": {
                    "x": 5.5302252769470215,
                    "y": 0.8950223922729492,
                    "z": 0.05504101514816284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.853860855102539,
                "transform": {
                    "location": {
                        "x": 3032.82275390625,
                        "y": 4272.24755859375,
                        "z": 361.63201904296875
                    },
                    "rotation": {
                        "roll": 0.000686601793859154,
                        "pitch": -0.4830036163330078,
                        "yaw": -170.355712890625
                    }
                },
                "velocity": {
                    "x": -6.757757186889648,
                    "y": -1.1419939994812012,
                    "z": -0.06307913362979889
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04215265437960625,
        "expert_target_speed": 8.211255175951843,
        "target_point": [
            48.49119519206045,
            0.018980771625674464
        ],
        "target_point_next": [
            99.49124029054644,
            -0.01659011335380889
        ]
    },
    "205": {
        "acceleration": [
            0.22347450256347656,
            0.05972623825073242,
            0.01497805118560791
        ],
        "angular_velocity": [
            0.09077508002519608,
            -0.0482952781021595,
            0.2537098526954651
        ],
        "forward_vector": [
            -0.986691415309906,
            -0.1623462587594986,
            -0.009146801196038723
        ],
        "right_vector": [
            0.16234982013702393,
            -0.9867331981658936,
            0.0003573812427930534
        ],
        "location": [
            2986.61279296875,
            4261.580078125,
            361.1847229003906
        ],
        "rotation": [
            -0.020477294921875,
            -0.5240803956985474,
            -170.656494140625
        ],
        "velocity": [
            -7.383013725280762,
            -1.2184754610061646,
            -0.06840181350708008
        ],
        "speed": 7.482885413846606,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.98624801635742,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2912.6728515625,
                        "y": 4259.443359375,
                        "z": 360.6819763183594
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2913.19189453125,
                        "y": 4256.23486328125,
                        "z": 360.6819763183594
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03602123260498,
                "transform": {
                    "location": {
                        "x": 3022.042236328125,
                        "y": 4267.17138671875,
                        "z": 361.5250549316406
                    },
                    "rotation": {
                        "roll": -0.009552002884447575,
                        "pitch": -0.21444061398506165,
                        "yaw": -170.5019989013672
                    }
                },
                "velocity": {
                    "x": -7.929869174957275,
                    "y": -1.2995868921279907,
                    "z": -0.07677412033081055
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.150010108947754,
                "transform": {
                    "location": {
                        "x": 2953.259033203125,
                        "y": 4266.10693359375,
                        "z": 360.9169006347656
                    },
                    "rotation": {
                        "roll": 0.0006548629608005285,
                        "pitch": 0.43190014362335205,
                        "yaw": 9.264060020446777
                    }
                },
                "velocity": {
                    "x": 8.043776512145996,
                    "y": 1.3100019693374634,
                    "z": 0.0650244727730751
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.997112274169922,
                "transform": {
                    "location": {
                        "x": 2953.8173828125,
                        "y": 4262.9052734375,
                        "z": 360.9024963378906
                    },
                    "rotation": {
                        "roll": 0.001786495791748166,
                        "pitch": 0.4482448101043701,
                        "yaw": 9.25444507598877
                    }
                },
                "velocity": {
                    "x": 7.892765522003174,
                    "y": 1.2860573530197144,
                    "z": 0.06414436548948288
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.672666549682617,
                "transform": {
                    "location": {
                        "x": 3008.200439453125,
                        "y": 4268.2158203125,
                        "z": 361.3997497558594
                    },
                    "rotation": {
                        "roll": -6.103446867200546e-05,
                        "pitch": -0.5677731037139893,
                        "yaw": -170.81040954589844
                    }
                },
                "velocity": {
                    "x": -12.509475708007812,
                    "y": -2.023782253265381,
                    "z": -0.11751585453748703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.0698771476745605,
                "transform": {
                    "location": {
                        "x": 3003.864501953125,
                        "y": 4264.22216796875,
                        "z": 361.33929443359375
                    },
                    "rotation": {
                        "roll": -0.0007324250764213502,
                        "pitch": -0.552705705165863,
                        "yaw": -170.80789184570312
                    }
                },
                "velocity": {
                    "x": -6.978800296783447,
                    "y": -1.129258632659912,
                    "z": -0.06544484198093414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.38901424407959,
                "transform": {
                    "location": {
                        "x": 2978.60546875,
                        "y": 4263.42822265625,
                        "z": 361.12347412109375
                    },
                    "rotation": {
                        "roll": 5.987933400319889e-05,
                        "pitch": -0.4429923892021179,
                        "yaw": -170.81935119628906
                    }
                },
                "velocity": {
                    "x": -13.216514587402344,
                    "y": -2.1389927864074707,
                    "z": -0.11897269636392593
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007967948913574,
                "transform": {
                    "location": {
                        "x": 2995.777099609375,
                        "y": 4272.98193359375,
                        "z": 361.2899169921875
                    },
                    "rotation": {
                        "roll": -0.0010375964920967817,
                        "pitch": 0.5328161716461182,
                        "yaw": 9.009464263916016
                    }
                },
                "velocity": {
                    "x": 7.90519380569458,
                    "y": 1.276735544204712,
                    "z": 0.07362440228462219
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023138999938965,
                "transform": {
                    "location": {
                        "x": 2995.963134765625,
                        "y": 4269.72998046875,
                        "z": 361.2818298339844
                    },
                    "rotation": {
                        "roll": -0.0011901798425242305,
                        "pitch": 0.5399059057235718,
                        "yaw": 9.187698364257812
                    }
                },
                "velocity": {
                    "x": 7.9195709228515625,
                    "y": 1.2829060554504395,
                    "z": 0.07284022867679596
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.22676944732666,
                "transform": {
                    "location": {
                        "x": 3034.52490234375,
                        "y": 4279.26220703125,
                        "z": 361.6492004394531
                    },
                    "rotation": {
                        "roll": 0.0003620359057094902,
                        "pitch": 0.5370509028434753,
                        "yaw": 9.21595573425293
                    }
                },
                "velocity": {
                    "x": 5.159295082092285,
                    "y": 0.8356651067733765,
                    "z": 0.04956554248929024
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.400814056396484,
                "transform": {
                    "location": {
                        "x": 2949.986572265625,
                        "y": 4258.796875,
                        "z": 360.9129638671875
                    },
                    "rotation": {
                        "roll": 0.0012956064892932773,
                        "pitch": -0.4405471682548523,
                        "yaw": -170.80137634277344
                    }
                },
                "velocity": {
                    "x": -13.228473663330078,
                    "y": -2.1397862434387207,
                    "z": -0.10305038839578629
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.038078308105469,
                "transform": {
                    "location": {
                        "x": 3034.4345703125,
                        "y": 4275.9560546875,
                        "z": 361.6574401855469
                    },
                    "rotation": {
                        "roll": 0.00019720898126251996,
                        "pitch": 0.5947045087814331,
                        "yaw": 9.212920188903809
                    }
                },
                "velocity": {
                    "x": 4.972926616668701,
                    "y": 0.8061482906341553,
                    "z": 0.04853968694806099
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.86446475982666,
                "transform": {
                    "location": {
                        "x": 3030.836181640625,
                        "y": 4271.9130859375,
                        "z": 361.61322021484375
                    },
                    "rotation": {
                        "roll": 0.0005847557913511992,
                        "pitch": -0.2926599383354187,
                        "yaw": -170.43142700195312
                    }
                },
                "velocity": {
                    "x": -8.741206169128418,
                    "y": -1.4706768989562988,
                    "z": -0.08468107134103775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03262336552143097,
        "expert_target_speed": 8.216799175897897,
        "target_point": [
            46.62133824784376,
            -0.0759666549874467
        ],
        "target_point_next": [
            97.62121633922527,
            -0.21124414642187261
        ]
    },
    "210": {
        "acceleration": [
            -0.5229568481445312,
            0.03367900848388672,
            -0.02432882785797119
        ],
        "angular_velocity": [
            0.10699982196092606,
            0.10726401954889297,
            -0.7591134905815125
        ],
        "forward_vector": [
            -0.9869845509529114,
            -0.16056160628795624,
            -0.00903057586401701
        ],
        "right_vector": [
            0.16057097911834717,
            -0.9870242476463318,
            -0.00031979181221686304
        ],
        "location": [
            2984.759521484375,
            4261.2783203125,
            361.1675720214844
        ],
        "rotation": [
            0.018323468044400215,
            -0.5174209475517273,
            -170.7601318359375
        ],
        "velocity": [
            -7.442790508270264,
            -1.1978483200073242,
            -0.06934068351984024
        ],
        "speed": 7.5385655895364,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.108795166015625,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2914.72802734375,
                        "y": 4259.77685546875,
                        "z": 360.6449890136719
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2915.2470703125,
                        "y": 4256.568359375,
                        "z": 360.6449890136719
                    },
                    "rotation": {
                        "roll": 3.335137499504981e-09,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.268096923828125,
                "transform": {
                    "location": {
                        "x": 3019.894287109375,
                        "y": 4266.81884765625,
                        "z": 361.50494384765625
                    },
                    "rotation": {
                        "roll": 0.003316495567560196,
                        "pitch": -0.28323426842689514,
                        "yaw": -170.65884399414062
                    }
                },
                "velocity": {
                    "x": -9.146687507629395,
                    "y": -1.4926203489303589,
                    "z": -0.08842118084430695
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977719783782959,
                "transform": {
                    "location": {
                        "x": 2955.25,
                        "y": 4266.4306640625,
                        "z": 360.9326477050781
                    },
                    "rotation": {
                        "roll": 9.237727499566972e-05,
                        "pitch": 0.4598561227321625,
                        "yaw": 9.2489013671875
                    }
                },
                "velocity": {
                    "x": 7.873795032501221,
                    "y": 1.2819029092788696,
                    "z": 0.06397323310375214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045135498046875,
                "transform": {
                    "location": {
                        "x": 2955.794921875,
                        "y": 4263.22705078125,
                        "z": 360.9183044433594
                    },
                    "rotation": {
                        "roll": 0.001042714691720903,
                        "pitch": 0.46074405312538147,
                        "yaw": 9.238271713256836
                    }
                },
                "velocity": {
                    "x": 7.940556049346924,
                    "y": 1.2913851737976074,
                    "z": 0.06408558040857315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.071231842041016,
                "transform": {
                    "location": {
                        "x": 3005.0244140625,
                        "y": 4267.7021484375,
                        "z": 361.369873046875
                    },
                    "rotation": {
                        "roll": 0.00040761384298093617,
                        "pitch": -0.5721717476844788,
                        "yaw": -170.8130340576172
                    }
                },
                "velocity": {
                    "x": -12.903360366821289,
                    "y": -2.0846774578094482,
                    "z": -0.12045902013778687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.15113353729248,
                "transform": {
                    "location": {
                        "x": 3001.990478515625,
                        "y": 4263.91845703125,
                        "z": 361.32122802734375
                    },
                    "rotation": {
                        "roll": -0.00018310759332962334,
                        "pitch": -0.48302412033081055,
                        "yaw": -170.80345153808594
                    }
                },
                "velocity": {
                    "x": -8.046022415161133,
                    "y": -1.3026283979415894,
                    "z": -0.07526040822267532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.234580993652344,
                "transform": {
                    "location": {
                        "x": 2975.328369140625,
                        "y": 4262.89794921875,
                        "z": 361.0951232910156
                    },
                    "rotation": {
                        "roll": -0.0005798367783427238,
                        "pitch": -0.5606014132499695,
                        "yaw": -170.7921142578125
                    }
                },
                "velocity": {
                    "x": -13.064045906066895,
                    "y": -2.1144790649414062,
                    "z": -0.1175723597407341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06647777557373,
                "transform": {
                    "location": {
                        "x": 2997.760986328125,
                        "y": 4273.302734375,
                        "z": 361.3084716796875
                    },
                    "rotation": {
                        "roll": -0.00094604556215927,
                        "pitch": 0.5341344475746155,
                        "yaw": 9.0180082321167
                    }
                },
                "velocity": {
                    "x": 7.962612628936768,
                    "y": 1.2882202863693237,
                    "z": 0.07320291548967361
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024223327636719,
                "transform": {
                    "location": {
                        "x": 2997.943359375,
                        "y": 4270.05029296875,
                        "z": 361.30035400390625
                    },
                    "rotation": {
                        "roll": 0.00024588441010564566,
                        "pitch": 0.540568470954895,
                        "yaw": 9.214868545532227
                    }
                },
                "velocity": {
                    "x": 7.920661926269531,
                    "y": 1.2829830646514893,
                    "z": 0.07234596461057663
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.045811176300049,
                "transform": {
                    "location": {
                        "x": 3035.79150390625,
                        "y": 4279.46728515625,
                        "z": 361.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0005798378260806203,
                        "pitch": 0.5371124148368835,
                        "yaw": 9.164849281311035
                    }
                },
                "velocity": {
                    "x": 4.980900287628174,
                    "y": 0.8053336143493652,
                    "z": 0.04774327203631401
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.350326538085938,
                "transform": {
                    "location": {
                        "x": 2946.68994140625,
                        "y": 4258.26318359375,
                        "z": 360.8876037597656
                    },
                    "rotation": {
                        "roll": 0.0006835254607722163,
                        "pitch": -0.4344478249549866,
                        "yaw": -170.8090057373047
                    }
                },
                "velocity": {
                    "x": -13.178434371948242,
                    "y": -2.13313889503479,
                    "z": -0.09904191642999649
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.163846969604492,
                "transform": {
                    "location": {
                        "x": 3035.685546875,
                        "y": 4276.15869140625,
                        "z": 361.6700439453125
                    },
                    "rotation": {
                        "roll": -0.0004272462101653218,
                        "pitch": 0.5433961749076843,
                        "yaw": 9.163041114807129
                    }
                },
                "velocity": {
                    "x": 5.097603797912598,
                    "y": 0.8230077028274536,
                    "z": 0.0490930937230587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.955792427062988,
                "transform": {
                    "location": {
                        "x": 3028.5126953125,
                        "y": 4271.5244140625,
                        "z": 361.5906677246094
                    },
                    "rotation": {
                        "roll": 0.00828960258513689,
                        "pitch": -0.35375598073005676,
                        "yaw": -170.54409790039062
                    }
                },
                "velocity": {
                    "x": -9.821015357971191,
                    "y": -1.6298284530639648,
                    "z": -0.09552379697561264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.038577452301979065,
        "expert_target_speed": 8.260601663241566,
        "target_point": [
            44.74372186222978,
            0.00808801982109486
        ],
        "target_point_next": [
            95.74376120707036,
            -0.03494871073849559
        ]
    },
    "215": {
        "acceleration": [
            0.02471923828125,
            0.09758949279785156,
            0.019244104623794556
        ],
        "angular_velocity": [
            0.01618869975209236,
            -0.026361361145973206,
            -0.7618109583854675
        ],
        "forward_vector": [
            -0.9875237941741943,
            -0.15722182393074036,
            -0.008837822824716568
        ],
        "right_vector": [
            0.15723296999931335,
            -0.9875614047050476,
            -0.0005766352987848222
        ],
        "location": [
            2982.892822265625,
            4260.98046875,
            361.1501770019531
        ],
        "rotation": [
            0.033040061593055725,
            -0.5063765645027161,
            -170.95396423339844
        ],
        "velocity": [
            -7.493396282196045,
            -1.1801460981369019,
            -0.06798896938562393
        ],
        "speed": 7.585758541832007,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.21885299682617,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027562141418457,
                "transform": {
                    "location": {
                        "x": 2916.71826171875,
                        "y": 4260.1103515625,
                        "z": 360.63726806640625
                    },
                    "rotation": {
                        "roll": 0.0128276152536273,
                        "pitch": 0.4290451407432556,
                        "yaw": 9.51685619354248
                    }
                },
                "velocity": {
                    "x": 7.91147518157959,
                    "y": 1.358182668685913,
                    "z": 0.07522628456354141
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.950112819671631,
                "transform": {
                    "location": {
                        "x": 2917.2197265625,
                        "y": 4256.90478515625,
                        "z": 360.6407775878906
                    },
                    "rotation": {
                        "roll": 0.008777454495429993,
                        "pitch": 0.42489922046661377,
                        "yaw": 9.617263793945312
                    }
                },
                "velocity": {
                    "x": 7.835601806640625,
                    "y": 1.343279242515564,
                    "z": 0.0569283664226532
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.750913619995117,
                "transform": {
                    "location": {
                        "x": 3017.646728515625,
                        "y": 4266.4521484375,
                        "z": 361.4856872558594
                    },
                    "rotation": {
                        "roll": 0.004628651775419712,
                        "pitch": -0.5816656947135925,
                        "yaw": -170.77137756347656
                    }
                },
                "velocity": {
                    "x": -8.637351036071777,
                    "y": -1.4027773141860962,
                    "z": -0.08286717534065247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038580894470215,
                "transform": {
                    "location": {
                        "x": 2957.222412109375,
                        "y": 4266.7509765625,
                        "z": 360.94873046875
                    },
                    "rotation": {
                        "roll": -0.0011291514383628964,
                        "pitch": 0.4566322863101959,
                        "yaw": 9.228387832641602
                    }
                },
                "velocity": {
                    "x": 7.934309959411621,
                    "y": 1.2888904809951782,
                    "z": 0.06539075821638107
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07160472869873,
                "transform": {
                    "location": {
                        "x": 2957.787109375,
                        "y": 4263.55029296875,
                        "z": 360.93450927734375
                    },
                    "rotation": {
                        "roll": 0.0008130320929922163,
                        "pitch": 0.46004053950309753,
                        "yaw": 9.224151611328125
                    }
                },
                "velocity": {
                    "x": 7.966962814331055,
                    "y": 1.2938417196273804,
                    "z": 0.06542772054672241
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.661120414733887,
                "transform": {
                    "location": {
                        "x": 3001.811279296875,
                        "y": 4267.1826171875,
                        "z": 361.3391418457031
                    },
                    "rotation": {
                        "roll": 0.0002865621354430914,
                        "pitch": -0.5030775666236877,
                        "yaw": -170.81089782714844
                    }
                },
                "velocity": {
                    "x": -12.49809741973877,
                    "y": -2.0218045711517334,
                    "z": -0.11761604249477386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.814930438995361,
                "transform": {
                    "location": {
                        "x": 2999.96875,
                        "y": 4263.59130859375,
                        "z": 361.3026428222656
                    },
                    "rotation": {
                        "roll": -0.0008239801973104477,
                        "pitch": -0.5305758714675903,
                        "yaw": -170.80322265625
                    }
                },
                "velocity": {
                    "x": -7.71415376663208,
                    "y": -1.24888014793396,
                    "z": -0.07257744669914246
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.589019775390625,
                "transform": {
                    "location": {
                        "x": 2972.1630859375,
                        "y": 4262.3857421875,
                        "z": 361.06768798828125
                    },
                    "rotation": {
                        "roll": -0.0009460437577217817,
                        "pitch": -0.6413000822067261,
                        "yaw": -170.80191040039062
                    }
                },
                "velocity": {
                    "x": -12.42650032043457,
                    "y": -2.013340950012207,
                    "z": -0.10939452052116394
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.00725269317627,
                "transform": {
                    "location": {
                        "x": 2999.743896484375,
                        "y": 4273.6240234375,
                        "z": 361.3269348144531
                    },
                    "rotation": {
                        "roll": -0.0024414078798145056,
                        "pitch": 0.5331850051879883,
                        "yaw": 9.021614074707031
                    }
                },
                "velocity": {
                    "x": 7.9038004875183105,
                    "y": 1.280841588973999,
                    "z": 0.07403486222028732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023148536682129,
                "transform": {
                    "location": {
                        "x": 2999.92333984375,
                        "y": 4270.37060546875,
                        "z": 361.3188171386719
                    },
                    "rotation": {
                        "roll": 0.00038690667133778334,
                        "pitch": 0.5400630235671997,
                        "yaw": 9.188136100769043
                    }
                },
                "velocity": {
                    "x": 7.919565677642822,
                    "y": 1.2830137014389038,
                    "z": 0.0725441724061966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.872616767883301,
                "transform": {
                    "location": {
                        "x": 3037.014404296875,
                        "y": 4279.6650390625,
                        "z": 361.67327880859375
                    },
                    "rotation": {
                        "roll": -0.00036621163599193096,
                        "pitch": 0.5379115343093872,
                        "yaw": 9.206622123718262
                    }
                },
                "velocity": {
                    "x": 4.809653282165527,
                    "y": 0.7793471217155457,
                    "z": 0.04742055758833885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.390254974365234,
                "transform": {
                    "location": {
                        "x": 2943.389892578125,
                        "y": 4257.7294921875,
                        "z": 360.8626403808594
                    },
                    "rotation": {
                        "roll": -0.0002441426331643015,
                        "pitch": -0.42593055963516235,
                        "yaw": -170.8028564453125
                    }
                },
                "velocity": {
                    "x": -13.217880249023438,
                    "y": -2.139310598373413,
                    "z": -0.09956946969032288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.975513935089111,
                "transform": {
                    "location": {
                        "x": 3036.948486328125,
                        "y": 4276.36279296875,
                        "z": 361.6819763183594
                    },
                    "rotation": {
                        "roll": 2.4813973141135648e-05,
                        "pitch": 0.558053731918335,
                        "yaw": 9.162796020507812
                    }
                },
                "velocity": {
                    "x": 4.91136360168457,
                    "y": 0.7951984405517578,
                    "z": 0.04366821050643921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.023030281066895,
                "transform": {
                    "location": {
                        "x": 3025.905029296875,
                        "y": 4271.09423828125,
                        "z": 361.5653076171875
                    },
                    "rotation": {
                        "roll": 0.006670115049928427,
                        "pitch": -0.3744172751903534,
                        "yaw": -170.64813232421875
                    }
                },
                "velocity": {
                    "x": -10.876235008239746,
                    "y": -1.7899047136306763,
                    "z": -0.10468491166830063
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05241520702838898,
        "expert_target_speed": 8.297533466193283,
        "target_point": [
            42.85312600086719,
            0.15881246898794554
        ],
        "target_point_next": [
            93.85301907850013,
            0.288316930197837
        ]
    },
    "220": {
        "acceleration": [
            -0.5601310729980469,
            0.03344297409057617,
            -0.009253472089767456
        ],
        "angular_velocity": [
            0.01770559698343277,
            0.0715227723121643,
            -0.7918732762336731
        ],
        "forward_vector": [
            -0.9880627989768982,
            -0.15380452573299408,
            -0.008730776607990265
        ],
        "right_vector": [
            0.15381638705730438,
            -0.988099217414856,
            -0.0006999167962931097
        ],
        "location": [
            2981.0078125,
            4260.68701171875,
            361.1328430175781
        ],
        "rotation": [
            0.04010380804538727,
            -0.5002430081367493,
            -171.15219116210938
        ],
        "velocity": [
            -7.578919410705566,
            -1.1660932302474976,
            -0.0688052698969841
        ],
        "speed": 7.668102298195992,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.31173324584961,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.923796653747559,
                "transform": {
                    "location": {
                        "x": 2918.68310546875,
                        "y": 4260.447265625,
                        "z": 360.65643310546875
                    },
                    "rotation": {
                        "roll": 0.005733379162847996,
                        "pitch": 0.41371819376945496,
                        "yaw": 9.699382781982422
                    }
                },
                "velocity": {
                    "x": 7.808609485626221,
                    "y": 1.3444900512695312,
                    "z": 0.06723283976316452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982452869415283,
                "transform": {
                    "location": {
                        "x": 2919.182861328125,
                        "y": 4257.24072265625,
                        "z": 360.65667724609375
                    },
                    "rotation": {
                        "roll": 0.005107011646032333,
                        "pitch": 0.4112798273563385,
                        "yaw": 9.703887939453125
                    }
                },
                "velocity": {
                    "x": 7.867414951324463,
                    "y": 1.3488349914550781,
                    "z": 0.06308788061141968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.746931552886963,
                "transform": {
                    "location": {
                        "x": 3015.808349609375,
                        "y": 4266.15380859375,
                        "z": 361.47320556640625
                    },
                    "rotation": {
                        "roll": 0.0008894663769751787,
                        "pitch": -1.2184715270996094,
                        "yaw": -170.81143188476562
                    }
                },
                "velocity": {
                    "x": -5.6727728843688965,
                    "y": -0.9186028242111206,
                    "z": -0.055137161165475845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01406192779541,
                "transform": {
                    "location": {
                        "x": 2959.204833984375,
                        "y": 4267.0732421875,
                        "z": 360.96502685546875
                    },
                    "rotation": {
                        "roll": 3.3351623685007326e-09,
                        "pitch": 0.4634351432323456,
                        "yaw": 9.224979400634766
                    }
                },
                "velocity": {
                    "x": 7.91051721572876,
                    "y": 1.2824528217315674,
                    "z": 0.06489396840333939
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.001018524169922,
                "transform": {
                    "location": {
                        "x": 2959.767333984375,
                        "y": 4263.87158203125,
                        "z": 360.95068359375
                    },
                    "rotation": {
                        "roll": 0.000388206506613642,
                        "pitch": 0.46903589367866516,
                        "yaw": 9.218819618225098
                    }
                },
                "velocity": {
                    "x": 7.897413730621338,
                    "y": 1.2817984819412231,
                    "z": 0.06440939009189606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.646919250488281,
                "transform": {
                    "location": {
                        "x": 2998.71923828125,
                        "y": 4266.68212890625,
                        "z": 361.3102111816406
                    },
                    "rotation": {
                        "roll": 0.0011933068744838238,
                        "pitch": -0.5152284502983093,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -12.48408317565918,
                    "y": -2.0196120738983154,
                    "z": -0.11578346788883209
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.1253180503845215,
                "transform": {
                    "location": {
                        "x": 2998.1474609375,
                        "y": 4263.29638671875,
                        "z": 361.2859802246094
                    },
                    "rotation": {
                        "roll": -0.0001831067493185401,
                        "pitch": -0.568080484867096,
                        "yaw": -170.80613708496094
                    }
                },
                "velocity": {
                    "x": -7.033504486083984,
                    "y": -1.1383085250854492,
                    "z": -0.06503312289714813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.790251731872559,
                "transform": {
                    "location": {
                        "x": 2969.022705078125,
                        "y": 4261.87646484375,
                        "z": 361.03900146484375
                    },
                    "rotation": {
                        "roll": 0.0009637265466153622,
                        "pitch": -0.4737214148044586,
                        "yaw": -170.79737854003906
                    }
                },
                "velocity": {
                    "x": -12.625370025634766,
                    "y": -2.044278860092163,
                    "z": -0.10728815943002701
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067011833190918,
                "transform": {
                    "location": {
                        "x": 3001.727783203125,
                        "y": 4273.94482421875,
                        "z": 361.3455505371094
                    },
                    "rotation": {
                        "roll": -0.0006103584310039878,
                        "pitch": 0.5396190881729126,
                        "yaw": 9.017428398132324
                    }
                },
                "velocity": {
                    "x": 7.963287353515625,
                    "y": 1.2872507572174072,
                    "z": 0.07565130293369293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023303985595703,
                "transform": {
                    "location": {
                        "x": 3001.903076171875,
                        "y": 4270.69091796875,
                        "z": 361.3373718261719
                    },
                    "rotation": {
                        "roll": 0.0009455234394408762,
                        "pitch": 0.5437376499176025,
                        "yaw": 9.210906982421875
                    }
                },
                "velocity": {
                    "x": 7.91984224319458,
                    "y": 1.282238245010376,
                    "z": 0.07326453924179077
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.70802640914917,
                "transform": {
                    "location": {
                        "x": 3038.1953125,
                        "y": 4279.8564453125,
                        "z": 361.6848449707031
                    },
                    "rotation": {
                        "roll": -0.0018005355959758162,
                        "pitch": 0.5418456792831421,
                        "yaw": 9.167303085327148
                    }
                },
                "velocity": {
                    "x": 4.647609710693359,
                    "y": 0.7504569292068481,
                    "z": 0.04529251158237457
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.39161491394043,
                "transform": {
                    "location": {
                        "x": 2940.084228515625,
                        "y": 4257.1943359375,
                        "z": 360.837890625
                    },
                    "rotation": {
                        "roll": -0.00015259279462043196,
                        "pitch": -0.4200088083744049,
                        "yaw": -170.81732177734375
                    }
                },
                "velocity": {
                    "x": -13.219465255737305,
                    "y": -2.138040065765381,
                    "z": -0.0993248000741005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.756472110748291,
                "transform": {
                    "location": {
                        "x": 3038.137451171875,
                        "y": 4276.5546875,
                        "z": 361.6933898925781
                    },
                    "rotation": {
                        "roll": -0.000549313728697598,
                        "pitch": 0.5695079565048218,
                        "yaw": 9.164698600769043
                    }
                },
                "velocity": {
                    "x": 4.6955389976501465,
                    "y": 0.7575645446777344,
                    "z": 0.04514988884329796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.108694076538086,
                "transform": {
                    "location": {
                        "x": 3023.08056640625,
                        "y": 4270.63134765625,
                        "z": 361.5379333496094
                    },
                    "rotation": {
                        "roll": 0.006477490533143282,
                        "pitch": -0.3634070158004761,
                        "yaw": -170.7107391357422
                    }
                },
                "velocity": {
                    "x": -11.949650764465332,
                    "y": -1.952639102935791,
                    "z": -0.11621447652578354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.070071741938591,
        "expert_target_speed": 8.35585816477867,
        "target_point": [
            40.94460455965171,
            0.30702841009974335
        ],
        "target_point_next": [
            91.94374444506329,
            0.6129635072783834
        ]
    },
    "225": {
        "acceleration": [
            0.28728485107421875,
            0.09124994277954102,
            0.013426393270492554
        ],
        "angular_velocity": [
            0.033107951283454895,
            -0.09666535258293152,
            -0.6403065323829651
        ],
        "forward_vector": [
            -0.9885734915733337,
            -0.1504843831062317,
            -0.00876963697373867
        ],
        "right_vector": [
            0.15049633383750916,
            -0.9886103272438049,
            -0.0007141665555536747
        ],
        "location": [
            2979.11083984375,
            4260.3974609375,
            361.1156921386719
        ],
        "rotation": [
            0.040920305997133255,
            -0.5024696588516235,
            -171.34466552734375
        ],
        "velocity": [
            -7.58791971206665,
            -1.144692063331604,
            -0.06821367889642715
        ],
        "speed": 7.673776480757307,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.39360809326172,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.955028057098389,
                "transform": {
                    "location": {
                        "x": 2920.639404296875,
                        "y": 4260.78369140625,
                        "z": 360.6716613769531
                    },
                    "rotation": {
                        "roll": 0.004679161123931408,
                        "pitch": 0.4129463732242584,
                        "yaw": 9.760000228881836
                    }
                },
                "velocity": {
                    "x": 7.839117050170898,
                    "y": 1.3518420457839966,
                    "z": 0.05694976821541786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.87802791595459,
                "transform": {
                    "location": {
                        "x": 2921.13623046875,
                        "y": 4257.5751953125,
                        "z": 360.6714782714844
                    },
                    "rotation": {
                        "roll": 0.003781308187171817,
                        "pitch": 0.4132537543773651,
                        "yaw": 9.72517204284668
                    }
                },
                "velocity": {
                    "x": 7.7646098136901855,
                    "y": 1.3307768106460571,
                    "z": 0.056505803018808365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.903001308441162,
                "transform": {
                    "location": {
                        "x": 3014.387451171875,
                        "y": 4265.92333984375,
                        "z": 361.4559631347656
                    },
                    "rotation": {
                        "roll": 0.000893325253855437,
                        "pitch": -0.7886614203453064,
                        "yaw": -170.82032775878906
                    }
                },
                "velocity": {
                    "x": -5.827118873596191,
                    "y": -0.9418547749519348,
                    "z": -0.054981254041194916
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.048974990844727,
                "transform": {
                    "location": {
                        "x": 2961.186767578125,
                        "y": 4267.39404296875,
                        "z": 360.98138427734375
                    },
                    "rotation": {
                        "roll": 0.00023211409279610962,
                        "pitch": 0.4676288664340973,
                        "yaw": 9.220589637756348
                    }
                },
                "velocity": {
                    "x": 7.94498348236084,
                    "y": 1.2880206108093262,
                    "z": 0.06505794078111649
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081327438354492,
                "transform": {
                    "location": {
                        "x": 2961.753173828125,
                        "y": 4264.19384765625,
                        "z": 360.9671325683594
                    },
                    "rotation": {
                        "roll": 1.4487962289422285e-05,
                        "pitch": 0.4724304974079132,
                        "yaw": 9.213333129882812
                    }
                },
                "velocity": {
                    "x": 7.977072715759277,
                    "y": 1.2922097444534302,
                    "z": 0.06601747125387192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.814703941345215,
                "transform": {
                    "location": {
                        "x": 2995.572509765625,
                        "y": 4266.1728515625,
                        "z": 361.2811584472656
                    },
                    "rotation": {
                        "roll": -6.103752093622461e-05,
                        "pitch": -0.5403157472610474,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -12.649720191955566,
                    "y": -2.046365261077881,
                    "z": -0.11661012470722198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.49658727645874,
                "transform": {
                    "location": {
                        "x": 2996.36083984375,
                        "y": 4263.00732421875,
                        "z": 361.26885986328125
                    },
                    "rotation": {
                        "roll": 0.0006668578134849668,
                        "pitch": -0.5181859135627747,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -7.399977207183838,
                    "y": -1.1976889371871948,
                    "z": -0.06856033951044083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.373781204223633,
                "transform": {
                    "location": {
                        "x": 2965.7626953125,
                        "y": 4261.3486328125,
                        "z": 361.0101623535156
                    },
                    "rotation": {
                        "roll": 0.0024094502441585064,
                        "pitch": -0.34124305844306946,
                        "yaw": -170.8369598388672
                    }
                },
                "velocity": {
                    "x": -13.201944351196289,
                    "y": -2.134073495864868,
                    "z": -0.11143229901790619
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007903099060059,
                "transform": {
                    "location": {
                        "x": 3003.7109375,
                        "y": 4274.265625,
                        "z": 361.3642578125
                    },
                    "rotation": {
                        "roll": -0.001892092521302402,
                        "pitch": 0.5385603904724121,
                        "yaw": 9.010610580444336
                    }
                },
                "velocity": {
                    "x": 7.904720783233643,
                    "y": 1.2791565656661987,
                    "z": 0.07531309127807617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023676872253418,
                "transform": {
                    "location": {
                        "x": 3003.88330078125,
                        "y": 4271.01123046875,
                        "z": 361.3559265136719
                    },
                    "rotation": {
                        "roll": 0.001328815589658916,
                        "pitch": 0.5459916591644287,
                        "yaw": 9.182625770568848
                    }
                },
                "velocity": {
                    "x": 7.920356750488281,
                    "y": 1.2812777757644653,
                    "z": 0.07531118392944336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.531225681304932,
                "transform": {
                    "location": {
                        "x": 3039.335205078125,
                        "y": 4280.044921875,
                        "z": 361.6959228515625
                    },
                    "rotation": {
                        "roll": -0.021911613643169403,
                        "pitch": 0.5454110503196716,
                        "yaw": 9.390630722045898
                    }
                },
                "velocity": {
                    "x": 4.438427448272705,
                    "y": 0.9112386703491211,
                    "z": 0.04486033320426941
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.384504318237305,
                "transform": {
                    "location": {
                        "x": 2936.780517578125,
                        "y": 4256.6591796875,
                        "z": 360.8132629394531
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": -0.4233624339103699,
                        "yaw": -170.80699157714844
                    }
                },
                "velocity": {
                    "x": -13.212337493896484,
                    "y": -2.1375725269317627,
                    "z": -0.09932968765497208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.579446315765381,
                "transform": {
                    "location": {
                        "x": 3039.29248046875,
                        "y": 4276.74169921875,
                        "z": 361.7046813964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5678892135620117,
                        "yaw": 9.173136711120605
                    }
                },
                "velocity": {
                    "x": 4.520442962646484,
                    "y": 0.7313736081123352,
                    "z": 0.04492638632655144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.779365539550781,
                "transform": {
                    "location": {
                        "x": 3019.99609375,
                        "y": 4270.1279296875,
                        "z": 361.5079345703125
                    },
                    "rotation": {
                        "roll": 0.0034051823895424604,
                        "pitch": -0.41613608598709106,
                        "yaw": -170.74676513671875
                    }
                },
                "velocity": {
                    "x": -12.61241340637207,
                    "y": -2.055413246154785,
                    "z": -0.12039686739444733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09109894186258316,
        "expert_target_speed": 8.361076597895732,
        "target_point": [
            39.024398585852026,
            0.4437945927520568
        ],
        "target_point_next": [
            90.02222297720252,
            0.9210499588204595
        ]
    },
    "230": {
        "acceleration": [
            -0.36685943603515625,
            0.02714395523071289,
            -0.0011871755123138428
        ],
        "angular_velocity": [
            0.03549756109714508,
            0.015257975086569786,
            -0.5667664408683777
        ],
        "forward_vector": [
            -0.9889518618583679,
            -0.14797343313694,
            -0.008834009058773518
        ],
        "right_vector": [
            0.14798472821712494,
            -0.9889894723892212,
            -0.0006336939986795187
        ],
        "location": [
            2977.2109375,
            4260.1123046875,
            361.09857177734375
        ],
        "rotation": [
            0.036309413611888885,
            -0.5061579942703247,
            -171.4901580810547
        ],
        "velocity": [
            -7.614120960235596,
            -1.129602313041687,
            -0.06855177134275436
        ],
        "speed": 7.697456682744513,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.47348403930664,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.1911234855651855,
                "transform": {
                    "location": {
                        "x": 2922.5615234375,
                        "y": 4261.1083984375,
                        "z": 360.6851806640625
                    },
                    "rotation": {
                        "roll": -0.002532961079850793,
                        "pitch": 0.4602249562740326,
                        "yaw": 9.588315963745117
                    }
                },
                "velocity": {
                    "x": 7.092736721038818,
                    "y": 1.1843596696853638,
                    "z": 0.05135846138000488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.64630651473999,
                "transform": {
                    "location": {
                        "x": 2923.005126953125,
                        "y": 4257.8896484375,
                        "z": 360.6842346191406
                    },
                    "rotation": {
                        "roll": -0.0011596684344112873,
                        "pitch": 0.5163622498512268,
                        "yaw": 9.560595512390137
                    }
                },
                "velocity": {
                    "x": 6.555806636810303,
                    "y": 1.0920252799987793,
                    "z": 0.047652747482061386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.053396701812744,
                "transform": {
                    "location": {
                        "x": 3012.78466796875,
                        "y": 4265.6640625,
                        "z": 361.4362487792969
                    },
                    "rotation": {
                        "roll": -0.0002746589598245919,
                        "pitch": -0.23501314222812653,
                        "yaw": -170.8365936279297
                    }
                },
                "velocity": {
                    "x": -6.962770462036133,
                    "y": -1.125083565711975,
                    "z": -0.06648911535739899
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99400520324707,
                "transform": {
                    "location": {
                        "x": 2963.16552734375,
                        "y": 4267.71533203125,
                        "z": 360.9979248046875
                    },
                    "rotation": {
                        "roll": 0.00018679270579013973,
                        "pitch": 0.47340720891952515,
                        "yaw": 9.218803405761719
                    }
                },
                "velocity": {
                    "x": 7.890470027923584,
                    "y": 1.280631422996521,
                    "z": 0.06770944595336914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010339736938477,
                "transform": {
                    "location": {
                        "x": 2963.73828125,
                        "y": 4264.51513671875,
                        "z": 360.9837341308594
                    },
                    "rotation": {
                        "roll": 0.0006833560764789581,
                        "pitch": 0.4772047996520996,
                        "yaw": 9.210270881652832
                    }
                },
                "velocity": {
                    "x": 7.906780242919922,
                    "y": 1.2821286916732788,
                    "z": 0.0672667846083641
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.967341423034668,
                "transform": {
                    "location": {
                        "x": 2992.3681640625,
                        "y": 4265.654296875,
                        "z": 361.25128173828125
                    },
                    "rotation": {
                        "roll": -0.00015258548955898732,
                        "pitch": -0.5415656566619873,
                        "yaw": -170.81044006347656
                    }
                },
                "velocity": {
                    "x": -12.800375938415527,
                    "y": -2.0707640647888184,
                    "z": -0.11941085755825043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.519190311431885,
                "transform": {
                    "location": {
                        "x": 2994.48779296875,
                        "y": 4262.7041015625,
                        "z": 361.25146484375
                    },
                    "rotation": {
                        "roll": 0.000446329009719193,
                        "pitch": -0.5270378589630127,
                        "yaw": -170.81076049804688
                    }
                },
                "velocity": {
                    "x": -7.422375202178955,
                    "y": -1.2007261514663696,
                    "z": -0.06946840137243271
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.246915817260742,
                "transform": {
                    "location": {
                        "x": 2962.470458984375,
                        "y": 4260.81689453125,
                        "z": 360.9837951660156
                    },
                    "rotation": {
                        "roll": 0.001704024150967598,
                        "pitch": -0.47609829902648926,
                        "yaw": -170.8212127685547
                    }
                },
                "velocity": {
                    "x": -13.07699966430664,
                    "y": -2.1120288372039795,
                    "z": -0.11045505106449127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067005157470703,
                "transform": {
                    "location": {
                        "x": 3005.694580078125,
                        "y": 4274.58642578125,
                        "z": 361.38299560546875
                    },
                    "rotation": {
                        "roll": -0.0015258846106007695,
                        "pitch": 0.5402201414108276,
                        "yaw": 9.02070426940918
                    }
                },
                "velocity": {
                    "x": 7.963314056396484,
                    "y": 1.2870033979415894,
                    "z": 0.07627866417169571
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023381233215332,
                "transform": {
                    "location": {
                        "x": 3005.86328125,
                        "y": 4271.33154296875,
                        "z": 361.3746337890625
                    },
                    "rotation": {
                        "roll": -0.00039673259016126394,
                        "pitch": 0.5457252264022827,
                        "yaw": 9.21124267578125
                    }
                },
                "velocity": {
                    "x": 7.9197211265563965,
                    "y": 1.283323049545288,
                    "z": 0.07586167752742767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.396749973297119,
                "transform": {
                    "location": {
                        "x": 3040.42333984375,
                        "y": 4280.27978515625,
                        "z": 361.7066955566406
                    },
                    "rotation": {
                        "roll": -0.006866460666060448,
                        "pitch": 0.5473576784133911,
                        "yaw": 11.230441093444824
                    }
                },
                "velocity": {
                    "x": 4.2781662940979,
                    "y": 1.0133283138275146,
                    "z": 0.04324221611022949
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 13.150687217712402,
                "transform": {
                    "location": {
                        "x": 2933.495361328125,
                        "y": 4256.126953125,
                        "z": 360.7889404296875
                    },
                    "rotation": {
                        "roll": 0.000441590731497854,
                        "pitch": -0.4397616982460022,
                        "yaw": -170.8122100830078
                    }
                },
                "velocity": {
                    "x": -12.981477737426758,
                    "y": -2.1005592346191406,
                    "z": -0.09725414216518402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.459498882293701,
                "transform": {
                    "location": {
                        "x": 3040.411865234375,
                        "y": 4276.87060546875,
                        "z": 361.7156066894531
                    },
                    "rotation": {
                        "roll": -0.078399658203125,
                        "pitch": 0.5670286417007446,
                        "yaw": 7.643379211425781
                    }
                },
                "velocity": {
                    "x": 4.4462409019470215,
                    "y": 0.3407944142818451,
                    "z": 0.04395449534058571
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.57298469543457,
                "transform": {
                    "location": {
                        "x": 3016.86767578125,
                        "y": 4269.61962890625,
                        "z": 361.47772216796875
                    },
                    "rotation": {
                        "roll": 0.004965987987816334,
                        "pitch": -0.5360127091407776,
                        "yaw": -170.78707885742188
                    }
                },
                "velocity": {
                    "x": -12.41022777557373,
                    "y": -2.012960910797119,
                    "z": -0.11903352290391922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1140524372458458,
        "expert_target_speed": 8.379678407422668,
        "target_point": [
            37.10196340905334,
            0.5420115897701168
        ],
        "target_point_next": [
            88.098411575362,
            1.1487568052093007
        ]
    },
    "235": {
        "acceleration": [
            0.2641105651855469,
            0.08907794952392578,
            0.010333657264709473
        ],
        "angular_velocity": [
            -0.03961869329214096,
            -0.03966376185417175,
            -0.515070378780365
        ],
        "forward_vector": [
            -0.9893084168434143,
            -0.14557132124900818,
            -0.008825663477182388
        ],
        "right_vector": [
            0.14558228850364685,
            -0.9893459677696228,
            -0.0006116956938058138
        ],
        "location": [
            2975.307373046875,
            4259.83154296875,
            361.0816650390625
        ],
        "rotation": [
            0.0350489504635334,
            -0.5056798458099365,
            -171.62930297851562
        ],
        "velocity": [
            -7.614262580871582,
            -1.1120003461837769,
            -0.06802699714899063
        ],
        "speed": 7.695033425552745,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.55067825317383,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.183969974517822,
                "transform": {
                    "location": {
                        "x": 2924.153076171875,
                        "y": 4261.37451171875,
                        "z": 360.6965637207031
                    },
                    "rotation": {
                        "roll": 0.0009144500945694745,
                        "pitch": 0.5029204487800598,
                        "yaw": 9.50790786743164
                    }
                },
                "velocity": {
                    "x": 6.099648952484131,
                    "y": 1.0167616605758667,
                    "z": 0.04425223171710968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.2900776863098145,
                "transform": {
                    "location": {
                        "x": 2924.568359375,
                        "y": 4258.150390625,
                        "z": 360.6959533691406
                    },
                    "rotation": {
                        "roll": 0.0018447921611368656,
                        "pitch": 0.47756680846214294,
                        "yaw": 9.487565040588379
                    }
                },
                "velocity": {
                    "x": 6.204745769500732,
                    "y": 1.0315607786178589,
                    "z": 0.04570722579956055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.229094505310059,
                "transform": {
                    "location": {
                        "x": 3010.888427734375,
                        "y": 4265.357421875,
                        "z": 361.41790771484375
                    },
                    "rotation": {
                        "roll": 0.005760793574154377,
                        "pitch": -0.20864860713481903,
                        "yaw": -170.95550537109375
                    }
                },
                "velocity": {
                    "x": -8.123937606811523,
                    "y": -1.3090908527374268,
                    "z": -0.07689575105905533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058687210083008,
                "transform": {
                    "location": {
                        "x": 2965.146728515625,
                        "y": 4268.037109375,
                        "z": 361.01470947265625
                    },
                    "rotation": {
                        "roll": -0.00024413445498794317,
                        "pitch": 0.48023056983947754,
                        "yaw": 9.210911750793457
                    }
                },
                "velocity": {
                    "x": 7.95452880859375,
                    "y": 1.2896701097488403,
                    "z": 0.06824895739555359
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069260597229004,
                "transform": {
                    "location": {
                        "x": 2965.722412109375,
                        "y": 4264.8369140625,
                        "z": 361.0005798339844
                    },
                    "rotation": {
                        "roll": -6.103699706727639e-05,
                        "pitch": 0.48544883728027344,
                        "yaw": 9.198070526123047
                    }
                },
                "velocity": {
                    "x": 7.96547794342041,
                    "y": 1.2881662845611572,
                    "z": 0.06892751902341843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.873336791992188,
                "transform": {
                    "location": {
                        "x": 2989.189697265625,
                        "y": 4265.14013671875,
                        "z": 361.2214660644531
                    },
                    "rotation": {
                        "roll": 0.0003542341582942754,
                        "pitch": -0.5242853164672852,
                        "yaw": -170.80322265625
                    }
                },
                "velocity": {
                    "x": -12.706963539123535,
                    "y": -2.0595486164093018,
                    "z": -0.11883623898029327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.293907642364502,
                "transform": {
                    "location": {
                        "x": 2992.67333984375,
                        "y": 4262.41064453125,
                        "z": 361.2346496582031
                    },
                    "rotation": {
                        "roll": -0.0002441400138195604,
                        "pitch": -0.5385125875473022,
                        "yaw": -170.80938720703125
                    }
                },
                "velocity": {
                    "x": -7.199932098388672,
                    "y": -1.1650947332382202,
                    "z": -0.06796576827764511
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.637882232666016,
                "transform": {
                    "location": {
                        "x": 2959.2568359375,
                        "y": 4260.2978515625,
                        "z": 360.95806884765625
                    },
                    "rotation": {
                        "roll": -0.001251213951036334,
                        "pitch": -0.6009746789932251,
                        "yaw": -170.83456420898438
                    }
                },
                "velocity": {
                    "x": -12.475655555725098,
                    "y": -2.015840530395508,
                    "z": -0.10233765095472336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006805419921875,
                "transform": {
                    "location": {
                        "x": 3007.677734375,
                        "y": 4274.9072265625,
                        "z": 361.40167236328125
                    },
                    "rotation": {
                        "roll": -0.0015869182534515858,
                        "pitch": 0.5379456877708435,
                        "yaw": 9.004755973815918
                    }
                },
                "velocity": {
                    "x": 7.903876781463623,
                    "y": 1.277488350868225,
                    "z": 0.07547450810670853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02318286895752,
                "transform": {
                    "location": {
                        "x": 3007.843017578125,
                        "y": 4271.65185546875,
                        "z": 361.3933410644531
                    },
                    "rotation": {
                        "roll": 0.00036884023575112224,
                        "pitch": 0.5453495979309082,
                        "yaw": 9.186214447021484
                    }
                },
                "velocity": {
                    "x": 7.919630527496338,
                    "y": 1.2826364040374756,
                    "z": 0.07594899833202362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.2556281089782715,
                "transform": {
                    "location": {
                        "x": 3041.47705078125,
                        "y": 4280.5224609375,
                        "z": 361.7171936035156
                    },
                    "rotation": {
                        "roll": 0.022434253245592117,
                        "pitch": 0.5470776557922363,
                        "yaw": 12.44471263885498
                    }
                },
                "velocity": {
                    "x": 4.136340618133545,
                    "y": 0.9996835589408875,
                    "z": 0.041134707629680634
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 12.203636169433594,
                "transform": {
                    "location": {
                        "x": 2930.36279296875,
                        "y": 4255.62060546875,
                        "z": 360.7662353515625
                    },
                    "rotation": {
                        "roll": -0.0016174326883628964,
                        "pitch": -0.5016158819198608,
                        "yaw": -170.80821228027344
                    }
                },
                "velocity": {
                    "x": -12.04649543762207,
                    "y": -1.950074553489685,
                    "z": -0.08878909796476364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.286125183105469,
                "transform": {
                    "location": {
                        "x": 3041.496826171875,
                        "y": 4276.9638671875,
                        "z": 361.7261962890625
                    },
                    "rotation": {
                        "roll": -0.04092405363917351,
                        "pitch": 0.5686132311820984,
                        "yaw": 6.240097999572754
                    }
                },
                "velocity": {
                    "x": 4.274333477020264,
                    "y": 0.315046101808548,
                    "z": 0.04107559099793434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.438492774963379,
                "transform": {
                    "location": {
                        "x": 3013.782958984375,
                        "y": 4269.11962890625,
                        "z": 361.4480895996094
                    },
                    "rotation": {
                        "roll": 0.00409590732306242,
                        "pitch": -0.5592695474624634,
                        "yaw": -170.80242919921875
                    }
                },
                "velocity": {
                    "x": -12.277937889099121,
                    "y": -1.9885451793670654,
                    "z": -0.11846808344125748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.14569975435733795,
        "expert_target_speed": 8.376280414488606,
        "target_point": [
            35.17637962263228,
            0.6314578103535657
        ],
        "target_point_next": [
            86.17120390794803,
            1.362047603079393
        ]
    },
    "240": {
        "acceleration": [
            -0.37758827209472656,
            -0.14656543731689453,
            -0.00043392181396484375
        ],
        "angular_velocity": [
            -0.12888197600841522,
            0.07000857591629028,
            0.5229827761650085
        ],
        "forward_vector": [
            -0.9892375469207764,
            -0.14606210589408875,
            -0.008659969083964825
        ],
        "right_vector": [
            0.14606769382953644,
            -0.9892746210098267,
            -1.3032577953708824e-05
        ],
        "location": [
            2973.400146484375,
            4259.55029296875,
            361.06475830078125
        ],
        "rotation": [
            0.0007467396790161729,
            -0.49618589878082275,
            -171.60089111328125
        ],
        "velocity": [
            -7.640651226043701,
            -1.1373590230941772,
            -0.06836637109518051
        ],
        "speed": 7.724838943658105,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.62431335449219,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.808642864227295,
                "transform": {
                    "location": {
                        "x": 2925.734619140625,
                        "y": 4261.63818359375,
                        "z": 360.70904541015625
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": 0.38380196690559387,
                        "yaw": 9.461779594421387
                    }
                },
                "velocity": {
                    "x": 6.71824312210083,
                    "y": 1.1047041416168213,
                    "z": 0.04958192631602287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.903842926025391,
                "transform": {
                    "location": {
                        "x": 2926.18017578125,
                        "y": 4258.41845703125,
                        "z": 360.708740234375
                    },
                    "rotation": {
                        "roll": 0.0006056779529899359,
                        "pitch": 0.3651965260505676,
                        "yaw": 9.466792106628418
                    }
                },
                "velocity": {
                    "x": 6.810375690460205,
                    "y": 1.1310800313949585,
                    "z": 0.04982175678014755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.517642974853516,
                "transform": {
                    "location": {
                        "x": 3008.77392578125,
                        "y": 4265.0166015625,
                        "z": 361.3996276855469
                    },
                    "rotation": {
                        "roll": -0.0003356953093316406,
                        "pitch": -0.416224867105484,
                        "yaw": -170.90365600585938
                    }
                },
                "velocity": {
                    "x": -8.408552169799805,
                    "y": -1.3565583229064941,
                    "z": -0.07902288436889648
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99432373046875,
                "transform": {
                    "location": {
                        "x": 2967.12744140625,
                        "y": 4268.35791015625,
                        "z": 361.03167724609375
                    },
                    "rotation": {
                        "roll": -0.0004882790381088853,
                        "pitch": 0.4811594784259796,
                        "yaw": 9.200048446655273
                    }
                },
                "velocity": {
                    "x": 7.891495704650879,
                    "y": 1.2762737274169922,
                    "z": 0.06804981082677841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01751708984375,
                "transform": {
                    "location": {
                        "x": 2967.707763671875,
                        "y": 4265.158203125,
                        "z": 361.017578125
                    },
                    "rotation": {
                        "roll": 0.00021654942247550935,
                        "pitch": 0.4849775433540344,
                        "yaw": 9.198420524597168
                    }
                },
                "velocity": {
                    "x": 7.91409969329834,
                    "y": 1.2818059921264648,
                    "z": 0.06766105443239212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.167452812194824,
                "transform": {
                    "location": {
                        "x": 2986.11279296875,
                        "y": 4264.6416015625,
                        "z": 361.1922302246094
                    },
                    "rotation": {
                        "roll": 0.0004832220438402146,
                        "pitch": -0.46951401233673096,
                        "yaw": -170.80242919921875
                    }
                },
                "velocity": {
                    "x": -12.010846138000488,
                    "y": -1.9426591396331787,
                    "z": -0.11208752542734146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.574120998382568,
                "transform": {
                    "location": {
                        "x": 2990.8330078125,
                        "y": 4262.11279296875,
                        "z": 361.21728515625
                    },
                    "rotation": {
                        "roll": 0.0005054613575339317,
                        "pitch": -0.5194426774978638,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": -7.4765520095825195,
                    "y": -1.2098032236099243,
                    "z": -0.06968428194522858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.69293212890625,
                "transform": {
                    "location": {
                        "x": 2956.272216796875,
                        "y": 4259.8154296875,
                        "z": 360.9346923828125
                    },
                    "rotation": {
                        "roll": -0.0017395050963386893,
                        "pitch": -0.6955522894859314,
                        "yaw": -170.80047607421875
                    }
                },
                "velocity": {
                    "x": -11.542377471923828,
                    "y": -1.868044376373291,
                    "z": -0.09280158579349518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.06782054901123,
                "transform": {
                    "location": {
                        "x": 3009.661376953125,
                        "y": 4275.228515625,
                        "z": 361.4205322265625
                    },
                    "rotation": {
                        "roll": -0.0031738297548145056,
                        "pitch": 0.5444138646125793,
                        "yaw": 9.035968780517578
                    }
                },
                "velocity": {
                    "x": 7.963338375091553,
                    "y": 1.2919622659683228,
                    "z": 0.0762026384472847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023509979248047,
                "transform": {
                    "location": {
                        "x": 3009.822998046875,
                        "y": 4271.97216796875,
                        "z": 361.4121398925781
                    },
                    "rotation": {
                        "roll": 0.00012129809329053387,
                        "pitch": 0.5479587316513062,
                        "yaw": 9.21365737915039
                    }
                },
                "velocity": {
                    "x": 7.919930458068848,
                    "y": 1.2827781438827515,
                    "z": 0.07674989849328995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3042.519287109375,
                        "y": 4280.51220703125,
                        "z": 361.73583984375
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 11.17230224609375,
                "transform": {
                    "location": {
                        "x": 2927.48681640625,
                        "y": 4255.15576171875,
                        "z": 360.7452392578125
                    },
                    "rotation": {
                        "roll": 3.5503111575962976e-05,
                        "pitch": -0.5219084024429321,
                        "yaw": -170.82131958007812
                    }
                },
                "velocity": {
                    "x": -11.028735160827637,
                    "y": -1.7834358215332031,
                    "z": -0.08181354403495789
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3042.5517578125,
                        "y": 4277.1162109375,
                        "z": 361.7352600097656
                    },
                    "rotation": {
                        "roll": 6.6704273216089405e-09,
                        "pitch": 0.5623499155044556,
                        "yaw": 9.191609382629395
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.515098571777344,
                "transform": {
                    "location": {
                        "x": 3010.71533203125,
                        "y": 4268.623046875,
                        "z": 361.418701171875
                    },
                    "rotation": {
                        "roll": 6.961562030483037e-05,
                        "pitch": -0.5368050336837769,
                        "yaw": -170.80282592773438
                    }
                },
                "velocity": {
                    "x": -12.353660583496094,
                    "y": -2.0001444816589355,
                    "z": -0.11910279840230942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15226534008979797,
        "expert_target_speed": 8.397471506331112,
        "target_point": [
            33.2488361154262,
            0.6143640896532494
        ],
        "target_point_next": [
            84.24401643747079,
            1.3196649174005142
        ]
    },
    "245": {
        "acceleration": [
            0.20386695861816406,
            -0.08512735366821289,
            0.010627806186676025
        ],
        "angular_velocity": [
            -0.0964335948228836,
            -0.04860316962003708,
            0.8759670853614807
        ],
        "forward_vector": [
            -0.988744854927063,
            -0.14936426281929016,
            -0.008594405837357044
        ],
        "right_vector": [
            0.14936625957489014,
            -0.9887818694114685,
            0.00041277456330135465
        ],
        "location": [
            2971.4892578125,
            4259.2626953125,
            361.0480651855469
        ],
        "rotation": [
            -0.023651113733649254,
            -0.49242928624153137,
            -171.4095916748047
        ],
        "velocity": [
            -7.648301124572754,
            -1.1698206663131714,
            -0.0678483173251152
        ],
        "speed": 7.737246957637725,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.69330978393555,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004751205444336,
                "transform": {
                    "location": {
                        "x": 2927.502685546875,
                        "y": 4261.9287109375,
                        "z": 360.72271728515625
                    },
                    "rotation": {
                        "roll": -0.0003356944362167269,
                        "pitch": 0.30226317048072815,
                        "yaw": 9.392525672912598
                    }
                },
                "velocity": {
                    "x": 7.898975849151611,
                    "y": 1.2956860065460205,
                    "z": 0.058455467224121094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.410390853881836,
                "transform": {
                    "location": {
                        "x": 2928.01611328125,
                        "y": 4258.72119140625,
                        "z": 360.72296142578125
                    },
                    "rotation": {
                        "roll": -0.0020446765702217817,
                        "pitch": 0.2668145000934601,
                        "yaw": 9.35575008392334
                    }
                },
                "velocity": {
                    "x": 8.299464225769043,
                    "y": 1.3601138591766357,
                    "z": 0.06051192060112953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.807061672210693,
                "transform": {
                    "location": {
                        "x": 3006.9541015625,
                        "y": 4264.7236328125,
                        "z": 361.3880920410156
                    },
                    "rotation": {
                        "roll": -9.155758016277105e-05,
                        "pitch": -1.1053773164749146,
                        "yaw": -170.8371124267578
                    }
                },
                "velocity": {
                    "x": -5.732448577880859,
                    "y": -0.9263165593147278,
                    "z": -0.054195426404476166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055087089538574,
                "transform": {
                    "location": {
                        "x": 2969.107666015625,
                        "y": 4268.67919921875,
                        "z": 361.0488586425781
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": 0.48878195881843567,
                        "yaw": 9.192930221557617
                    }
                },
                "velocity": {
                    "x": 7.951641082763672,
                    "y": 1.2849431037902832,
                    "z": 0.06887272000312805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.066529273986816,
                "transform": {
                    "location": {
                        "x": 2969.692138671875,
                        "y": 4265.4794921875,
                        "z": 361.03472900390625
                    },
                    "rotation": {
                        "roll": -0.0002441450487822294,
                        "pitch": 0.49581706523895264,
                        "yaw": 9.19935417175293
                    }
                },
                "velocity": {
                    "x": 7.962490558624268,
                    "y": 1.2894915342330933,
                    "z": 0.0697253942489624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.586297988891602,
                "transform": {
                    "location": {
                        "x": 2983.073486328125,
                        "y": 4264.14990234375,
                        "z": 361.1646728515625
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.5448919534683228,
                        "yaw": -170.80764770507812
                    }
                },
                "velocity": {
                    "x": -12.424490928649902,
                    "y": -2.008443832397461,
                    "z": -0.11433728784322739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.414742946624756,
                "transform": {
                    "location": {
                        "x": 2988.981689453125,
                        "y": 4261.8134765625,
                        "z": 361.20013427734375
                    },
                    "rotation": {
                        "roll": -0.00042724207742139697,
                        "pitch": -0.5321605205535889,
                        "yaw": -170.80996704101562
                    }
                },
                "velocity": {
                    "x": -7.319050312042236,
                    "y": -1.1854381561279297,
                    "z": -0.06825988739728928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.972901344299316,
                "transform": {
                    "location": {
                        "x": 2953.37158203125,
                        "y": 4259.345703125,
                        "z": 360.9095153808594
                    },
                    "rotation": {
                        "roll": -0.00021362336701713502,
                        "pitch": -0.4483950734138489,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -11.81863021850586,
                    "y": -1.9135884046554565,
                    "z": -0.09237024933099747
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006393432617188,
                "transform": {
                    "location": {
                        "x": 3011.64453125,
                        "y": 4275.5498046875,
                        "z": 361.439453125
                    },
                    "rotation": {
                        "roll": -0.00021362661209423095,
                        "pitch": 0.5485187768936157,
                        "yaw": 9.008392333984375
                    }
                },
                "velocity": {
                    "x": 7.903504371643066,
                    "y": 1.2771284580230713,
                    "z": 0.07685206830501556
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023451805114746,
                "transform": {
                    "location": {
                        "x": 3011.802978515625,
                        "y": 4272.29248046875,
                        "z": 361.43096923828125
                    },
                    "rotation": {
                        "roll": 0.0012967030052095652,
                        "pitch": 0.5558817386627197,
                        "yaw": 9.185454368591309
                    }
                },
                "velocity": {
                    "x": 7.91989803314209,
                    "y": 1.2826615571975708,
                    "z": 0.07602161169052124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3044.315185546875,
                        "y": 4280.84423828125,
                        "z": 361.75830078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5625548362731934,
                        "yaw": 17.44382667541504
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.480549812316895,
                "transform": {
                    "location": {
                        "x": 2924.933349609375,
                        "y": 4254.7421875,
                        "z": 360.72705078125
                    },
                    "rotation": {
                        "roll": 0.0005391356535255909,
                        "pitch": -0.5804704427719116,
                        "yaw": -170.8265838623047
                    }
                },
                "velocity": {
                    "x": -9.358537673950195,
                    "y": -1.5145677328109741,
                    "z": -0.06839248538017273
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3043.7890625,
                        "y": 4277.353515625,
                        "z": 361.74505615234375
                    },
                    "rotation": {
                        "roll": -1.6676068304022351e-09,
                        "pitch": 0.5624933838844299,
                        "yaw": 5.324779987335205
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.24578857421875,
                "transform": {
                    "location": {
                        "x": 3007.64013671875,
                        "y": 4268.12548828125,
                        "z": 361.3894958496094
                    },
                    "rotation": {
                        "roll": -0.00039673069841228426,
                        "pitch": -0.5675340294837952,
                        "yaw": -170.8138885498047
                    }
                },
                "velocity": {
                    "x": -12.088171005249023,
                    "y": -1.9551736116409302,
                    "z": -0.11294635385274887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16588903963565826,
        "expert_target_speed": 8.403047506785429,
        "target_point": [
            31.3182924492249,
            0.5044071870569597
        ],
        "target_point_next": [
            82.31554339637093,
            1.0394409890534213
        ]
    },
    "250": {
        "acceleration": [
            -0.6127357482910156,
            -0.23308753967285156,
            0.013168752193450928
        ],
        "angular_velocity": [
            -0.08467396348714828,
            0.15741486847400665,
            0.9238193035125732
        ],
        "forward_vector": [
            -0.9881505370140076,
            -0.15326106548309326,
            -0.008340977132320404
        ],
        "right_vector": [
            0.15326106548309326,
            -0.9881855845451355,
            0.000644462532363832
        ],
        "location": [
            2969.569580078125,
            4258.96533203125,
            361.0314025878906
        ],
        "rotation": [
            -0.03692626953125,
            -0.47790831327438354,
            -171.18373107910156
        ],
        "velocity": [
            -7.714218616485596,
            -1.2117050886154175,
            -0.06679823994636536
        ],
        "speed": 7.808802602493511,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.75196838378906,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2889.68017578125,
                        "y": 4255.7236328125,
                        "z": 360.83526611328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2890.19921875,
                        "y": 4252.51513671875,
                        "z": 360.83526611328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.395855903625488,
                "transform": {
                    "location": {
                        "x": 2929.586181640625,
                        "y": 4262.27099609375,
                        "z": 360.73773193359375
                    },
                    "rotation": {
                        "roll": 0.00011344072117935866,
                        "pitch": 0.35876932740211487,
                        "yaw": 9.331841468811035
                    }
                },
                "velocity": {
                    "x": 8.285146713256836,
                    "y": 1.3575936555862427,
                    "z": 0.06063244864344597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.215971946716309,
                "transform": {
                    "location": {
                        "x": 2930.1015625,
                        "y": 4259.0634765625,
                        "z": 360.7373352050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3925309479236603,
                        "yaw": 9.314752578735352
                    }
                },
                "velocity": {
                    "x": 8.107831954956055,
                    "y": 1.3272511959075928,
                    "z": 0.06050005927681923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.960946083068848,
                "transform": {
                    "location": {
                        "x": 3005.52001953125,
                        "y": 4264.49169921875,
                        "z": 361.3717956542969
                    },
                    "rotation": {
                        "roll": -0.001831060042604804,
                        "pitch": -0.7787781357765198,
                        "yaw": -170.8236846923828
                    }
                },
                "velocity": {
                    "x": -5.884033679962158,
                    "y": -0.9529483318328857,
                    "z": -0.053982313722372055
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997052192687988,
                "transform": {
                    "location": {
                        "x": 2971.08837890625,
                        "y": 4268.99853515625,
                        "z": 361.0661315917969
                    },
                    "rotation": {
                        "roll": -0.0005188034265302122,
                        "pitch": 0.49355626106262207,
                        "yaw": 9.184113502502441
                    }
                },
                "velocity": {
                    "x": 7.894278526306152,
                    "y": 1.2761644124984741,
                    "z": 0.06792324036359787
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018385887145996,
                "transform": {
                    "location": {
                        "x": 2971.676513671875,
                        "y": 4265.80029296875,
                        "z": 361.0521545410156
                    },
                    "rotation": {
                        "roll": -0.00015258444182109088,
                        "pitch": 0.49782514572143555,
                        "yaw": 9.19567584991455
                    }
                },
                "velocity": {
                    "x": 7.915049076080322,
                    "y": 1.2813409566879272,
                    "z": 0.06836269050836563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.980890274047852,
                "transform": {
                    "location": {
                        "x": 2979.915771484375,
                        "y": 4263.63916015625,
                        "z": 361.1357727050781
                    },
                    "rotation": {
                        "roll": -0.00012207207328174263,
                        "pitch": -0.5581015348434448,
                        "yaw": -170.8155975341797
                    }
                },
                "velocity": {
                    "x": -12.81395149230957,
                    "y": -2.0719237327575684,
                    "z": -0.11531125754117966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.540505409240723,
                "transform": {
                    "location": {
                        "x": 2987.141845703125,
                        "y": 4261.515625,
                        "z": 361.1828918457031
                    },
                    "rotation": {
                        "roll": -0.000549319782294333,
                        "pitch": -0.5264231562614441,
                        "yaw": -170.81161499023438
                    }
                },
                "velocity": {
                    "x": -7.443447589874268,
                    "y": -1.2039406299591064,
                    "z": -0.06954707205295563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.672089576721191,
                "transform": {
                    "location": {
                        "x": 2950.352783203125,
                        "y": 4258.857421875,
                        "z": 360.88433837890625
                    },
                    "rotation": {
                        "roll": -0.002258301479741931,
                        "pitch": -0.25247108936309814,
                        "yaw": -170.752197265625
                    }
                },
                "velocity": {
                    "x": -12.508149147033691,
                    "y": -2.0294547080993652,
                    "z": -0.09681499004364014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.066705703735352,
                "transform": {
                    "location": {
                        "x": 3013.628173828125,
                        "y": 4275.87060546875,
                        "z": 361.45849609375
                    },
                    "rotation": {
                        "roll": -0.0016784629551693797,
                        "pitch": 0.5503219962120056,
                        "yaw": 9.023309707641602
                    }
                },
                "velocity": {
                    "x": 7.962563991546631,
                    "y": 1.2897673845291138,
                    "z": 0.07624521106481552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023390769958496,
                "transform": {
                    "location": {
                        "x": 3013.782958984375,
                        "y": 4272.61279296875,
                        "z": 361.4499816894531
                    },
                    "rotation": {
                        "roll": 6.085424683988094e-05,
                        "pitch": 0.5563188791275024,
                        "yaw": 9.216301918029785
                    }
                },
                "velocity": {
                    "x": 7.919767379760742,
                    "y": 1.2831141948699951,
                    "z": 0.07554351538419724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3759,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3046.208984375,
                        "y": 4281.62841796875,
                        "z": 361.7837829589844
                    },
                    "rotation": {
                        "roll": -1.3341352911311333e-08,
                        "pitch": 0.74908047914505,
                        "yaw": 26.877155303955078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.087965965270996,
                "transform": {
                    "location": {
                        "x": 2922.68017578125,
                        "y": 4254.37841796875,
                        "z": 360.7098388671875
                    },
                    "rotation": {
                        "roll": 4.5184933696873486e-05,
                        "pitch": -0.4875798523426056,
                        "yaw": -170.8368682861328
                    }
                },
                "velocity": {
                    "x": -8.971441268920898,
                    "y": -1.449181079864502,
                    "z": -0.06508450210094452
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3758,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3045.867431640625,
                        "y": 4277.41943359375,
                        "z": 361.7627258300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5624933838844299,
                        "yaw": -5.098025321960449
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.17524528503418,
                "transform": {
                    "location": {
                        "x": 3004.646728515625,
                        "y": 4267.6416015625,
                        "z": 361.361328125
                    },
                    "rotation": {
                        "roll": -3.051715248147957e-05,
                        "pitch": -0.5516675114631653,
                        "yaw": -170.81419372558594
                    }
                },
                "velocity": {
                    "x": -12.01844310760498,
                    "y": -1.9444866180419922,
                    "z": -0.11223738640546799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17033980786800385,
        "expert_target_speed": 8.45729143311596,
        "target_point": [
            29.377464944198657,
            0.38133285545390994
        ],
        "target_point_next": [
            80.37642860222233,
            0.715355523912665
        ]
    },
    "255": {
        "acceleration": [
            -0.13419151306152344,
            -0.09490489959716797,
            0.013746768236160278
        ],
        "angular_velocity": [
            0.012399740517139435,
            0.012887265533208847,
            0.5857757925987244
        ],
        "forward_vector": [
            -0.9876974821090698,
            -0.15617568790912628,
            -0.007922804914414883
        ],
        "right_vector": [
            0.15617619454860687,
            -0.9877290725708008,
            0.0005576482508331537
        ],
        "location": [
            2967.630615234375,
            4258.65966796875,
            361.0146484375
        ],
        "rotation": [
            -0.0319518968462944,
            -0.4539480209350586,
            -171.0147247314453
        ],
        "velocity": [
            -7.797209739685059,
            -1.2424631118774414,
            -0.06722737848758698
        ],
        "speed": 7.895580682192774,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.79024887084961,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2891.69580078125,
                        "y": 4256.0498046875,
                        "z": 360.5661926269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2892.21484375,
                        "y": 4252.84130859375,
                        "z": 360.5662841796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.83521032333374,
                "transform": {
                    "location": {
                        "x": 2931.578125,
                        "y": 4262.59716796875,
                        "z": 360.751708984375
                    },
                    "rotation": {
                        "roll": -0.00039672048296779394,
                        "pitch": 0.45621562004089355,
                        "yaw": 9.291178703308105
                    }
                },
                "velocity": {
                    "x": 7.733002185821533,
                    "y": 1.2600876092910767,
                    "z": 0.058095913380384445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873172283172607,
                "transform": {
                    "location": {
                        "x": 2932.07177734375,
                        "y": 4259.3857421875,
                        "z": 360.7515869140625
                    },
                    "rotation": {
                        "roll": -0.0016479480545967817,
                        "pitch": 0.45308056473731995,
                        "yaw": 9.278377532958984
                    }
                },
                "velocity": {
                    "x": 7.7707200050354,
                    "y": 1.2647067308425903,
                    "z": 0.057132527232170105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.188058853149414,
                "transform": {
                    "location": {
                        "x": 3003.90576171875,
                        "y": 4264.22998046875,
                        "z": 361.3523254394531
                    },
                    "rotation": {
                        "roll": 0.001872627530246973,
                        "pitch": -0.23126336932182312,
                        "yaw": -170.8617401123047
                    }
                },
                "velocity": {
                    "x": -7.095591068267822,
                    "y": -1.147312879562378,
                    "z": -0.06673197448253632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054524421691895,
                "transform": {
                    "location": {
                        "x": 2973.0693359375,
                        "y": 4269.3193359375,
                        "z": 361.08355712890625
                    },
                    "rotation": {
                        "roll": -0.0002136281837010756,
                        "pitch": 0.4964727759361267,
                        "yaw": 9.186875343322754
                    }
                },
                "velocity": {
                    "x": 7.950913429260254,
                    "y": 1.2858333587646484,
                    "z": 0.07050103694200516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068059921264648,
                "transform": {
                    "location": {
                        "x": 2973.661865234375,
                        "y": 4266.12158203125,
                        "z": 361.06951904296875
                    },
                    "rotation": {
                        "roll": 0.00012551284453365952,
                        "pitch": 0.5009397268295288,
                        "yaw": 9.19523811340332
                    }
                },
                "velocity": {
                    "x": 7.964064121246338,
                    "y": 1.2892744541168213,
                    "z": 0.07102653384208679
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.228303909301758,
                "transform": {
                    "location": {
                        "x": 2976.787109375,
                        "y": 4263.1328125,
                        "z": 361.1067199707031
                    },
                    "rotation": {
                        "roll": 0.00044250537757761776,
                        "pitch": -0.4536064863204956,
                        "yaw": -170.8030548095703
                    }
                },
                "velocity": {
                    "x": -12.07064437866211,
                    "y": -1.9542369842529297,
                    "z": -0.10919012129306793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.800156116485596,
                "transform": {
                    "location": {
                        "x": 2985.260498046875,
                        "y": 4261.2119140625,
                        "z": 361.1652526855469
                    },
                    "rotation": {
                        "roll": 0.0002012551558436826,
                        "pitch": -0.5120251178741455,
                        "yaw": -170.81570434570312
                    }
                },
                "velocity": {
                    "x": -7.699832439422607,
                    "y": -1.244968056678772,
                    "z": -0.07120256125926971
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.041824340820312,
                "transform": {
                    "location": {
                        "x": 2947.2822265625,
                        "y": 4258.35888671875,
                        "z": 360.8625183105469
                    },
                    "rotation": {
                        "roll": 0.0008428500732406974,
                        "pitch": -0.4733867347240448,
                        "yaw": -170.7891845703125
                    }
                },
                "velocity": {
                    "x": -11.886361122131348,
                    "y": -1.9265553951263428,
                    "z": -0.09129644930362701
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.932750225067139,
                "transform": {
                    "location": {
                        "x": 3015.607421875,
                        "y": 4276.19091796875,
                        "z": 361.47747802734375
                    },
                    "rotation": {
                        "roll": 0.0002761078649200499,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.005755424499512
                    }
                },
                "velocity": {
                    "x": 7.8308892250061035,
                    "y": 1.2649426460266113,
                    "z": 0.0749792829155922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.986782073974609,
                "transform": {
                    "location": {
                        "x": 3015.761474609375,
                        "y": 4272.93310546875,
                        "z": 361.4690246582031
                    },
                    "rotation": {
                        "roll": 0.0006239571375772357,
                        "pitch": 0.5495023727416992,
                        "yaw": 9.187067031860352
                    }
                },
                "velocity": {
                    "x": 7.883859157562256,
                    "y": 1.275820016860962,
                    "z": 0.0757528692483902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5777587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.39083707332611084,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.740582466125488,
                "transform": {
                    "location": {
                        "x": 2920.353271484375,
                        "y": 4254.00244140625,
                        "z": 360.69195556640625
                    },
                    "rotation": {
                        "roll": 0.0009729390149004757,
                        "pitch": -0.37322884798049927,
                        "yaw": -170.8036346435547
                    }
                },
                "velocity": {
                    "x": -9.615427017211914,
                    "y": -1.5549074411392212,
                    "z": -0.06911315023899078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.55511474609375,
                "transform": {
                    "location": {
                        "x": 3001.58544921875,
                        "y": 4267.14599609375,
                        "z": 361.3326110839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.49066710472106934,
                        "yaw": -170.80360412597656
                    }
                },
                "velocity": {
                    "x": -12.393261909484863,
                    "y": -2.0061283111572266,
                    "z": -0.1158415749669075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16754603385925293,
        "expert_target_speed": 8.52581159707205,
        "target_point": [
            27.415552298190704,
            0.295590995876867
        ],
        "target_point_next": [
            78.41527936019435,
            0.47918003856928415
        ]
    },
    "260": {
        "acceleration": [
            -0.9656238555908203,
            -0.24732351303100586,
            -0.014403313398361206
        ],
        "angular_velocity": [
            -0.04825907200574875,
            0.16410422325134277,
            0.5997861623764038
        ],
        "forward_vector": [
            -0.9872944355010986,
            -0.1587199866771698,
            -0.007596299983561039
        ],
        "right_vector": [
            0.158720463514328,
            -0.9873234629631042,
            0.0005443344125524163
        ],
        "location": [
            2965.662109375,
            4258.34375,
            360.997802734375
        ],
        "rotation": [
            -0.03118896670639515,
            -0.43524011969566345,
            -170.86712646484375
        ],
        "velocity": [
            -7.95276403427124,
            -1.2885056734085083,
            -0.06841448694467545
        ],
        "speed": 8.056469614862586,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.797706604003906,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2893.7509765625,
                        "y": 4256.3818359375,
                        "z": 360.52850341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2894.27001953125,
                        "y": 4253.17333984375,
                        "z": 360.52862548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.39083021879196167,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05530834197998,
                "transform": {
                    "location": {
                        "x": 2933.528564453125,
                        "y": 4262.9150390625,
                        "z": 360.7666015625
                    },
                    "rotation": {
                        "roll": -0.00024413886421825737,
                        "pitch": 0.4118672013282776,
                        "yaw": 9.255996704101562
                    }
                },
                "velocity": {
                    "x": 7.950653076171875,
                    "y": 1.2929450273513794,
                    "z": 0.0583367720246315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.041861534118652,
                "transform": {
                    "location": {
                        "x": 2934.03173828125,
                        "y": 4259.70458984375,
                        "z": 360.7665100097656
                    },
                    "rotation": {
                        "roll": 0.000629180227406323,
                        "pitch": 0.4058839678764343,
                        "yaw": 9.253820419311523
                    }
                },
                "velocity": {
                    "x": 7.937363624572754,
                    "y": 1.290879487991333,
                    "z": 0.058542363345623016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.35923957824707,
                "transform": {
                    "location": {
                        "x": 3002.000244140625,
                        "y": 4263.92236328125,
                        "z": 361.3341064453125
                    },
                    "rotation": {
                        "roll": 0.0008043910493142903,
                        "pitch": -0.1938202679157257,
                        "yaw": -170.8629150390625
                    }
                },
                "velocity": {
                    "x": -8.251646995544434,
                    "y": -1.3346186876296997,
                    "z": -0.07751049846410751
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995667934417725,
                "transform": {
                    "location": {
                        "x": 2975.04931640625,
                        "y": 4269.6396484375,
                        "z": 361.1011657714844
                    },
                    "rotation": {
                        "roll": -0.0005493147182278335,
                        "pitch": 0.5063765645027161,
                        "yaw": 9.186841011047363
                    }
                },
                "velocity": {
                    "x": 7.892796516418457,
                    "y": 1.276471734046936,
                    "z": 0.07133025676012039
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016371726989746,
                "transform": {
                    "location": {
                        "x": 2975.646240234375,
                        "y": 4266.44287109375,
                        "z": 361.0871887207031
                    },
                    "rotation": {
                        "roll": 0.0003315041249152273,
                        "pitch": 0.5107410550117493,
                        "yaw": 9.195286750793457
                    }
                },
                "velocity": {
                    "x": 7.91303825378418,
                    "y": 1.2809855937957764,
                    "z": 0.07160136848688126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.201310157775879,
                "transform": {
                    "location": {
                        "x": 2973.8046875,
                        "y": 4262.6494140625,
                        "z": 361.0804748535156
                    },
                    "rotation": {
                        "roll": 2.0638046407839283e-05,
                        "pitch": -0.4844038188457489,
                        "yaw": -170.8028106689453
                    }
                },
                "velocity": {
                    "x": -12.043989181518555,
                    "y": -1.9500646591186523,
                    "z": -0.10740716010332108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.65570068359375,
                "transform": {
                    "location": {
                        "x": 2983.208251953125,
                        "y": 4260.87939453125,
                        "z": 361.14605712890625
                    },
                    "rotation": {
                        "roll": 0.0010501975193619728,
                        "pitch": -0.474486380815506,
                        "yaw": -170.8115234375
                    }
                },
                "velocity": {
                    "x": -8.544267654418945,
                    "y": -1.3821340799331665,
                    "z": -0.0796748697757721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.7539701461792,
                "transform": {
                    "location": {
                        "x": 2944.49365234375,
                        "y": 4257.9072265625,
                        "z": 360.8436279296875
                    },
                    "rotation": {
                        "roll": 0.0012009458150714636,
                        "pitch": -0.7637038826942444,
                        "yaw": -170.7796630859375
                    }
                },
                "velocity": {
                    "x": -10.615324020385742,
                    "y": -1.7193948030471802,
                    "z": -0.08024532347917557
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.602783679962158,
                "transform": {
                    "location": {
                        "x": 3017.52392578125,
                        "y": 4276.50048828125,
                        "z": 361.4959716796875
                    },
                    "rotation": {
                        "roll": -0.00286865234375,
                        "pitch": 0.48620015382766724,
                        "yaw": 8.999443054199219
                    }
                },
                "velocity": {
                    "x": 7.5047607421875,
                    "y": 1.2147411108016968,
                    "z": 0.07270500063896179
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.640286922454834,
                "transform": {
                    "location": {
                        "x": 3017.692138671875,
                        "y": 4273.24560546875,
                        "z": 361.4879150390625
                    },
                    "rotation": {
                        "roll": 0.001377825508825481,
                        "pitch": 0.4631482660770416,
                        "yaw": 9.20508098602295
                    }
                },
                "velocity": {
                    "x": 7.541873455047607,
                    "y": 1.220200538635254,
                    "z": 0.07238254696130753
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.15519671142101288,
                "transform": {
                    "location": {
                        "x": 2897.87158203125,
                        "y": 4247.17236328125,
                        "z": 360.5569152832031
                    },
                    "rotation": {
                        "roll": 4.1208884795196354e-05,
                        "pitch": -0.3926334083080292,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0009952133987098932,
                    "y": 0.00027427513850852847,
                    "z": -0.1551932841539383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.185867309570312,
                "transform": {
                    "location": {
                        "x": 2917.998291015625,
                        "y": 4253.62109375,
                        "z": 360.6755676269531
                    },
                    "rotation": {
                        "roll": 0.001117052510380745,
                        "pitch": -0.4409160017967224,
                        "yaw": -170.8233184814453
                    }
                },
                "velocity": {
                    "x": -9.067801475524902,
                    "y": -1.4665414094924927,
                    "z": -0.0662793219089508
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.921311378479004,
                "transform": {
                    "location": {
                        "x": 2998.5615234375,
                        "y": 4266.65625,
                        "z": 361.30426025390625
                    },
                    "rotation": {
                        "roll": 0.0011140410788357258,
                        "pitch": -0.5940283536911011,
                        "yaw": -170.81065368652344
                    }
                },
                "velocity": {
                    "x": -11.767730712890625,
                    "y": -1.9042240381240845,
                    "z": -0.11010286211967468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15751783549785614,
        "expert_target_speed": 8.646302173541038,
        "target_point": [
            25.42252799749609,
            0.22549491569846447
        ],
        "target_point_next": [
            76.42255879139421,
            0.2776902881825851
        ]
    },
    "265": {
        "acceleration": [
            -0.5176353454589844,
            0.06960153579711914,
            -0.004770010709762573
        ],
        "angular_velocity": [
            0.21604719758033752,
            0.08771248906850815,
            -0.5155980587005615
        ],
        "forward_vector": [
            -0.9871700406074524,
            -0.15951399505138397,
            -0.007109462283551693
        ],
        "right_vector": [
            0.15951786935329437,
            -0.9871950149536133,
            2.290267548232805e-05
        ],
        "location": [
            2963.65185546875,
            4258.01904296875,
            360.9808044433594
        ],
        "rotation": [
            -0.0013122598174959421,
            -0.40734562277793884,
            -170.82107543945312
        ],
        "velocity": [
            -8.12671184539795,
            -1.3034765720367432,
            -0.06840132921934128
        ],
        "speed": 8.23058300437946,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.762657165527344,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.039545059204102,
                "transform": {
                    "location": {
                        "x": 2895.77490234375,
                        "y": 4256.71533203125,
                        "z": 360.496826171875
                    },
                    "rotation": {
                        "roll": 0.03060743398964405,
                        "pitch": 0.42285698652267456,
                        "yaw": 9.420289039611816
                    }
                },
                "velocity": {
                    "x": 7.91609525680542,
                    "y": 1.403228521347046,
                    "z": -0.02583971433341503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9966816902160645,
                "transform": {
                    "location": {
                        "x": 2896.2890625,
                        "y": 4253.51025390625,
                        "z": 360.5163879394531
                    },
                    "rotation": {
                        "roll": -0.02941894344985485,
                        "pitch": 0.37091341614723206,
                        "yaw": 9.56407642364502
                    }
                },
                "velocity": {
                    "x": 7.873810291290283,
                    "y": 1.3934898376464844,
                    "z": 0.0906427726149559
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050874710083008,
                "transform": {
                    "location": {
                        "x": 2935.5244140625,
                        "y": 4263.23974609375,
                        "z": 360.7814025878906
                    },
                    "rotation": {
                        "roll": 0.0005623511970043182,
                        "pitch": 0.4116486608982086,
                        "yaw": 9.242127418518066
                    }
                },
                "velocity": {
                    "x": 7.946177959442139,
                    "y": 1.292745590209961,
                    "z": 0.06045902892947197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.085960388183594,
                "transform": {
                    "location": {
                        "x": 2936.029052734375,
                        "y": 4260.02978515625,
                        "z": 360.7812805175781
                    },
                    "rotation": {
                        "roll": 0.00015191902639344335,
                        "pitch": 0.41706499457359314,
                        "yaw": 9.24717903137207
                    }
                },
                "velocity": {
                    "x": 7.980645656585693,
                    "y": 1.2994135618209839,
                    "z": 0.0598435215651989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.291229248046875,
                "transform": {
                    "location": {
                        "x": 2999.801513671875,
                        "y": 4263.56689453125,
                        "z": 361.3141784667969
                    },
                    "rotation": {
                        "roll": -0.0013122528325766325,
                        "pitch": -0.2835962772369385,
                        "yaw": -170.81341552734375
                    }
                },
                "velocity": {
                    "x": -9.171488761901855,
                    "y": -1.4844036102294922,
                    "z": -0.08533648401498795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055295944213867,
                "transform": {
                    "location": {
                        "x": 2977.0302734375,
                        "y": 4269.9599609375,
                        "z": 361.1190185546875
                    },
                    "rotation": {
                        "roll": -3.0520259315380827e-05,
                        "pitch": 0.5058369636535645,
                        "yaw": 9.186724662780762
                    }
                },
                "velocity": {
                    "x": 7.951655864715576,
                    "y": 1.2860027551651,
                    "z": 0.07174935936927795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068572998046875,
                "transform": {
                    "location": {
                        "x": 2977.631103515625,
                        "y": 4266.76416015625,
                        "z": 361.1051025390625
                    },
                    "rotation": {
                        "roll": -6.104391650296748e-05,
                        "pitch": 0.5121275782585144,
                        "yaw": 9.193302154541016
                    }
                },
                "velocity": {
                    "x": 7.964846134185791,
                    "y": 1.2875754833221436,
                    "z": 0.07239555567502975
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.896740913391113,
                "transform": {
                    "location": {
                        "x": 2970.708984375,
                        "y": 4262.14892578125,
                        "z": 361.05377197265625
                    },
                    "rotation": {
                        "roll": 0.00029523923876695335,
                        "pitch": -0.5509913563728333,
                        "yaw": -170.8076934814453
                    }
                },
                "velocity": {
                    "x": -12.730656623840332,
                    "y": -2.060164451599121,
                    "z": -0.1097218468785286
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.826037883758545,
                "transform": {
                    "location": {
                        "x": 2981.17578125,
                        "y": 4260.55078125,
                        "z": 361.1278381347656
                    },
                    "rotation": {
                        "roll": 0.0008353656739927828,
                        "pitch": -0.5482114553451538,
                        "yaw": -170.80776977539062
                    }
                },
                "velocity": {
                    "x": -7.725183486938477,
                    "y": -1.250331997871399,
                    "z": -0.07126197218894958
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.961730003356934,
                "transform": {
                    "location": {
                        "x": 2941.83935546875,
                        "y": 4257.47705078125,
                        "z": 360.8213195800781
                    },
                    "rotation": {
                        "roll": 0.0005673520499840379,
                        "pitch": -0.47503963112831116,
                        "yaw": -170.81436157226562
                    }
                },
                "velocity": {
                    "x": -10.820478439331055,
                    "y": -1.7522305250167847,
                    "z": -0.08039596676826477
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.313962936401367,
                "transform": {
                    "location": {
                        "x": 3019.358154296875,
                        "y": 4276.79736328125,
                        "z": 361.513671875
                    },
                    "rotation": {
                        "roll": -0.002075196010991931,
                        "pitch": 0.500864565372467,
                        "yaw": 8.968401908874512
                    }
                },
                "velocity": {
                    "x": 7.219606876373291,
                    "y": 1.1689163446426392,
                    "z": 0.07043475657701492
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3441877365112305,
                "transform": {
                    "location": {
                        "x": 3019.533935546875,
                        "y": 4273.5439453125,
                        "z": 361.5057067871094
                    },
                    "rotation": {
                        "roll": -0.00033569266088306904,
                        "pitch": 0.43261733651161194,
                        "yaw": 9.184771537780762
                    }
                },
                "velocity": {
                    "x": 7.249361515045166,
                    "y": 1.1742050647735596,
                    "z": 0.07137073576450348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.039182521402835846,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5345764160156
                    },
                    "rotation": {
                        "roll": 0.0005455908831208944,
                        "pitch": -0.39319348335266113,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.00027145049534738064,
                    "y": -0.00018051773076876998,
                    "z": -0.039181165397167206
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.623416900634766,
                "transform": {
                    "location": {
                        "x": 2915.817626953125,
                        "y": 4253.2685546875,
                        "z": 360.6600341796875
                    },
                    "rotation": {
                        "roll": 0.00043885072227567434,
                        "pitch": -0.46416595578193665,
                        "yaw": -170.79747009277344
                    }
                },
                "velocity": {
                    "x": -8.512506484985352,
                    "y": -1.377249836921692,
                    "z": -0.061102934181690216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.865041732788086,
                "transform": {
                    "location": {
                        "x": 2995.654541015625,
                        "y": 4266.18603515625,
                        "z": 361.277099609375
                    },
                    "rotation": {
                        "roll": 0.0014037289656698704,
                        "pitch": -0.5521183013916016,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -11.712211608886719,
                    "y": -1.8951339721679688,
                    "z": -0.10851000249385834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.16425055265426636,
        "expert_target_speed": 8.77451894153545,
        "target_point": [
            23.386391708462828,
            0.2051904102666935
        ],
        "target_point_next": [
            74.38644797788712,
            0.2164087443797751
        ]
    },
    "270": {
        "acceleration": [
            -1.0300064086914062,
            -0.019123554229736328,
            -0.014762431383132935
        ],
        "angular_velocity": [
            0.10489379614591599,
            0.07898172736167908,
            -0.9180265665054321
        ],
        "forward_vector": [
            -0.9877345561981201,
            -0.1559944748878479,
            -0.006800002418458462
        ],
        "right_vector": [
            0.15600183606147766,
            -0.987756609916687,
            -0.0005633113905787468
        ],
        "location": [
            2961.591064453125,
            4257.6923828125,
            360.9635925292969
        ],
        "rotation": [
            0.03227611631155014,
            -0.389614462852478,
            -171.0253143310547
        ],
        "velocity": [
            -8.3447847366333,
            -1.3038192987442017,
            -0.06891302764415741
        ],
        "speed": 8.446027294801144,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.677873611450195,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.937026500701904,
                "transform": {
                    "location": {
                        "x": 2897.74267578125,
                        "y": 4257.05224609375,
                        "z": 360.5072937011719
                    },
                    "rotation": {
                        "roll": 0.005653361324220896,
                        "pitch": 0.399518221616745,
                        "yaw": 9.669571876525879
                    }
                },
                "velocity": {
                    "x": 7.822547435760498,
                    "y": 1.3417161703109741,
                    "z": 0.06278472393751144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.155861854553223,
                "transform": {
                    "location": {
                        "x": 2898.2802734375,
                        "y": 4253.8505859375,
                        "z": 360.53741455078125
                    },
                    "rotation": {
                        "roll": 0.0008465492282994092,
                        "pitch": 0.38773617148399353,
                        "yaw": 9.737589836120605
                    }
                },
                "velocity": {
                    "x": 8.038284301757812,
                    "y": 1.3780373334884644,
                    "z": 0.07134321331977844
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.020939826965332,
                "transform": {
                    "location": {
                        "x": 2937.504638671875,
                        "y": 4263.56201171875,
                        "z": 360.79608154296875
                    },
                    "rotation": {
                        "roll": 0.0005368015845306218,
                        "pitch": 0.42580080032348633,
                        "yaw": 9.228096008300781
                    }
                },
                "velocity": {
                    "x": 7.917191982269287,
                    "y": 1.2844738960266113,
                    "z": 0.0606313981115818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.96225643157959,
                "transform": {
                    "location": {
                        "x": 2938.0048828125,
                        "y": 4260.3505859375,
                        "z": 360.79595947265625
                    },
                    "rotation": {
                        "roll": -0.000274659221759066,
                        "pitch": 0.42575982213020325,
                        "yaw": 9.224472999572754
                    }
                },
                "velocity": {
                    "x": 7.859458923339844,
                    "y": 1.27390456199646,
                    "z": 0.059967126697301865
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.510072708129883,
                "transform": {
                    "location": {
                        "x": 2997.59423828125,
                        "y": 4263.2099609375,
                        "z": 361.296630859375
                    },
                    "rotation": {
                        "roll": -0.0003356945526320487,
                        "pitch": -0.647822916507721,
                        "yaw": -170.79837036132812
                    }
                },
                "velocity": {
                    "x": -8.400158882141113,
                    "y": -1.3610639572143555,
                    "z": -0.07854985445737839
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995689868927002,
                "transform": {
                    "location": {
                        "x": 2979.010498046875,
                        "y": 4270.2802734375,
                        "z": 361.13702392578125
                    },
                    "rotation": {
                        "roll": -0.0007324237958528101,
                        "pitch": 0.5138555765151978,
                        "yaw": 9.186904907226562
                    }
                },
                "velocity": {
                    "x": 7.8928117752075195,
                    "y": 1.2764739990234375,
                    "z": 0.07203909009695053
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0165433883667,
                "transform": {
                    "location": {
                        "x": 2979.615478515625,
                        "y": 4267.0859375,
                        "z": 361.1231994628906
                    },
                    "rotation": {
                        "roll": -0.0015869199996814132,
                        "pitch": 0.5187733173370361,
                        "yaw": 9.183538436889648
                    }
                },
                "velocity": {
                    "x": 7.913496971130371,
                    "y": 1.2791979312896729,
                    "z": 0.07197820395231247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.239116668701172,
                "transform": {
                    "location": {
                        "x": 2967.55810546875,
                        "y": 4261.63916015625,
                        "z": 361.0257263183594
                    },
                    "rotation": {
                        "roll": 0.0006414997042156756,
                        "pitch": -0.4403354525566101,
                        "yaw": -170.81297302246094
                    }
                },
                "velocity": {
                    "x": -12.081673622131348,
                    "y": -1.9540574550628662,
                    "z": -0.10385644435882568
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.921907901763916,
                "transform": {
                    "location": {
                        "x": 2979.263427734375,
                        "y": 4260.2412109375,
                        "z": 361.1102600097656
                    },
                    "rotation": {
                        "roll": 0.0012226739199832082,
                        "pitch": -0.5188552737236023,
                        "yaw": -170.8088836669922
                    }
                },
                "velocity": {
                    "x": -7.820160388946533,
                    "y": -1.2636704444885254,
                    "z": -0.06967230886220932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.179899215698242,
                "transform": {
                    "location": {
                        "x": 2939.0830078125,
                        "y": 4257.03125,
                        "z": 360.7994079589844
                    },
                    "rotation": {
                        "roll": -0.00051879818784073,
                        "pitch": -0.3049064576625824,
                        "yaw": -170.76171875
                    }
                },
                "velocity": {
                    "x": -11.035811424255371,
                    "y": -1.7873128652572632,
                    "z": -0.08080587536096573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.158791542053223,
                "transform": {
                    "location": {
                        "x": 3021.1474609375,
                        "y": 4277.0859375,
                        "z": 361.5309753417969
                    },
                    "rotation": {
                        "roll": -0.00042724364902824163,
                        "pitch": 0.5064380168914795,
                        "yaw": 8.941805839538574
                    }
                },
                "velocity": {
                    "x": 7.066976070404053,
                    "y": 1.1407936811447144,
                    "z": 0.06881143152713776
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.161433219909668,
                "transform": {
                    "location": {
                        "x": 3021.32470703125,
                        "y": 4273.833984375,
                        "z": 361.5230407714844
                    },
                    "rotation": {
                        "roll": 0.0010313689708709717,
                        "pitch": 0.4633941650390625,
                        "yaw": 9.216760635375977
                    }
                },
                "velocity": {
                    "x": 7.068939208984375,
                    "y": 1.1452445983886719,
                    "z": 0.06809777766466141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.005620163399726152,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5301208496094
                    },
                    "rotation": {
                        "roll": 0.0003393429797142744,
                        "pitch": -0.393097847700119,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": 4.045836612931453e-05,
                    "y": -0.0001965925475815311,
                    "z": -0.00561657827347517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.189637184143066,
                "transform": {
                    "location": {
                        "x": 2913.640625,
                        "y": 4252.916015625,
                        "z": 360.6437072753906
                    },
                    "rotation": {
                        "roll": 0.0015665277605876327,
                        "pitch": -0.3739664852619171,
                        "yaw": -170.81591796875
                    }
                },
                "velocity": {
                    "x": -9.07129955291748,
                    "y": -1.4685910940170288,
                    "z": -0.06476715952157974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.531843185424805,
                "transform": {
                    "location": {
                        "x": 2992.635986328125,
                        "y": 4265.697265625,
                        "z": 361.2490539550781
                    },
                    "rotation": {
                        "roll": 0.0004415316507220268,
                        "pitch": -0.45574435591697693,
                        "yaw": -170.80422973632812
                    }
                },
                "velocity": {
                    "x": -12.370309829711914,
                    "y": -2.0022964477539062,
                    "z": -0.11553063988685608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1703401356935501,
        "expert_target_speed": 8.945656722264316,
        "target_point": [
            21.298991933433427,
            0.28736456745212013
        ],
        "target_point_next": [
            72.298684248293,
            0.48036489158977247
        ]
    },
    "275": {
        "acceleration": [
            -0.16008377075195312,
            0.10470151901245117,
            -0.018088221549987793
        ],
        "angular_velocity": [
            0.03525329381227493,
            -0.07133655250072479,
            -0.9269347190856934
        ],
        "forward_vector": [
            -0.9883537888526917,
            -0.1520141363143921,
            -0.006965699605643749
        ],
        "right_vector": [
            0.1520233452320099,
            -0.9883765578269958,
            -0.0008113333606161177
        ],
        "location": [
            2959.487060546875,
            4257.3671875,
            360.9464111328125
        ],
        "rotation": [
            0.04648711159825325,
            -0.3991084098815918,
            -171.25611877441406
        ],
        "velocity": [
            -8.47052001953125,
            -1.2891591787338257,
            -0.06907210499048233
        ],
        "speed": 8.568059336243731,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.551340103149414,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.969120025634766,
                "transform": {
                    "location": {
                        "x": 2899.70263671875,
                        "y": 4257.38818359375,
                        "z": 360.5224609375
                    },
                    "rotation": {
                        "roll": 0.003554664785042405,
                        "pitch": 0.39616459608078003,
                        "yaw": 9.723348617553711
                    }
                },
                "velocity": {
                    "x": 7.853898525238037,
                    "y": 1.3490428924560547,
                    "z": 0.05689099058508873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.935240268707275,
                "transform": {
                    "location": {
                        "x": 2900.261474609375,
                        "y": 4254.1904296875,
                        "z": 360.5530090332031
                    },
                    "rotation": {
                        "roll": 0.0032121078111231327,
                        "pitch": 0.3913015127182007,
                        "yaw": 9.737130165100098
                    }
                },
                "velocity": {
                    "x": 7.82076358795166,
                    "y": 1.3417633771896362,
                    "z": 0.05805116519331932
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003978729248047,
                "transform": {
                    "location": {
                        "x": 2939.48046875,
                        "y": 4263.88232421875,
                        "z": 360.8109436035156
                    },
                    "rotation": {
                        "roll": 0.00036066558095626533,
                        "pitch": 0.4177889823913574,
                        "yaw": 9.220305442810059
                    }
                },
                "velocity": {
                    "x": 7.900345325469971,
                    "y": 1.2824548482894897,
                    "z": 0.05952717736363411
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069967269897461,
                "transform": {
                    "location": {
                        "x": 2939.983642578125,
                        "y": 4260.67138671875,
                        "z": 360.81085205078125
                    },
                    "rotation": {
                        "roll": 3.449869836913422e-05,
                        "pitch": 0.4157126247882843,
                        "yaw": 9.214410781860352
                    }
                },
                "velocity": {
                    "x": 7.9658966064453125,
                    "y": 1.2904331684112549,
                    "z": 0.06033690273761749
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.769180774688721,
                "transform": {
                    "location": {
                        "x": 2995.8037109375,
                        "y": 4262.919921875,
                        "z": 361.2828369140625
                    },
                    "rotation": {
                        "roll": -0.0012512244284152985,
                        "pitch": -1.0225201845169067,
                        "yaw": -170.78826904296875
                    }
                },
                "velocity": {
                    "x": -6.681636810302734,
                    "y": -1.0833861827850342,
                    "z": -0.06173698231577873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054769515991211,
                "transform": {
                    "location": {
                        "x": 2980.9912109375,
                        "y": 4270.60107421875,
                        "z": 361.15521240234375
                    },
                    "rotation": {
                        "roll": -0.0002136256080120802,
                        "pitch": 0.5195382833480835,
                        "yaw": 9.192069053649902
                    }
                },
                "velocity": {
                    "x": 7.9507341384887695,
                    "y": 1.2883638143539429,
                    "z": 0.0725664496421814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06856632232666,
                "transform": {
                    "location": {
                        "x": 2981.6005859375,
                        "y": 4267.4072265625,
                        "z": 361.1413879394531
                    },
                    "rotation": {
                        "roll": -0.0014038060326129198,
                        "pitch": 0.5250297784805298,
                        "yaw": 9.186969757080078
                    }
                },
                "velocity": {
                    "x": 7.9647417068481445,
                    "y": 1.288175344467163,
                    "z": 0.07257547229528427
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.415297508239746,
                "transform": {
                    "location": {
                        "x": 2964.685791015625,
                        "y": 4261.17431640625,
                        "z": 361.0010986328125
                    },
                    "rotation": {
                        "roll": -0.00024414187646470964,
                        "pitch": -0.400877445936203,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -11.268110275268555,
                    "y": -1.8247300386428833,
                    "z": -0.09531845897436142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.409636497497559,
                "transform": {
                    "location": {
                        "x": 2977.2275390625,
                        "y": 4259.91162109375,
                        "z": 361.0916748046875
                    },
                    "rotation": {
                        "roll": -0.0013732900843024254,
                        "pitch": -0.4817195534706116,
                        "yaw": -170.8091278076172
                    }
                },
                "velocity": {
                    "x": -8.301118850708008,
                    "y": -1.344556212425232,
                    "z": -0.07468700408935547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.404380798339844,
                "transform": {
                    "location": {
                        "x": 2936.31201171875,
                        "y": 4256.58251953125,
                        "z": 360.77960205078125
                    },
                    "rotation": {
                        "roll": -0.0005188026116229594,
                        "pitch": -0.3857075870037079,
                        "yaw": -170.78253173828125
                    }
                },
                "velocity": {
                    "x": -11.257547378540039,
                    "y": -1.822260856628418,
                    "z": -0.08294616639614105
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.789791107177734,
                "transform": {
                    "location": {
                        "x": 3022.864501953125,
                        "y": 4277.36328125,
                        "z": 361.5476379394531
                    },
                    "rotation": {
                        "roll": -0.0016479477053508162,
                        "pitch": 0.49400022625923157,
                        "yaw": 8.903862953186035
                    }
                },
                "velocity": {
                    "x": 6.702783107757568,
                    "y": 1.0815370082855225,
                    "z": 0.06514011323451996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.877652645111084,
                "transform": {
                    "location": {
                        "x": 3023.05615234375,
                        "y": 4274.11474609375,
                        "z": 361.5398254394531
                    },
                    "rotation": {
                        "roll": -0.00021361996186897159,
                        "pitch": 0.4461410939693451,
                        "yaw": 9.185983657836914
                    }
                },
                "velocity": {
                    "x": 6.788857936859131,
                    "y": 1.0995763540267944,
                    "z": 0.06669839471578598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016940973000600934,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.52960205078125
                    },
                    "rotation": {
                        "roll": 0.0005853589391335845,
                        "pitch": -0.39291343092918396,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -4.084616739419289e-05,
                    "y": 0.00014800383360125124,
                    "z": -0.001687125419266522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.787713050842285,
                "transform": {
                    "location": {
                        "x": 2911.27490234375,
                        "y": 4252.53369140625,
                        "z": 360.6265869140625
                    },
                    "rotation": {
                        "roll": -0.0007934566237963736,
                        "pitch": -0.3422539234161377,
                        "yaw": -170.79681396484375
                    }
                },
                "velocity": {
                    "x": -9.66142749786377,
                    "y": -1.5657217502593994,
                    "z": -0.06832633912563324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.841418266296387,
                "transform": {
                    "location": {
                        "x": 2989.591064453125,
                        "y": 4265.205078125,
                        "z": 361.2204895019531
                    },
                    "rotation": {
                        "roll": 0.0007567979046143591,
                        "pitch": -0.5965896844863892,
                        "yaw": -170.81195068359375
                    }
                },
                "velocity": {
                    "x": -11.688913345336914,
                    "y": -1.8912038803100586,
                    "z": -0.1088775098323822
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1902080923318863,
        "expert_target_speed": 9.033568603839196,
        "target_point": [
            19.16867539183591,
            0.37159114053490105
        ],
        "target_point_next": [
            70.1671764469324,
            0.7700324395816747
        ]
    },
    "280": {
        "acceleration": [
            -0.501251220703125,
            -0.1009368896484375,
            0.005666017532348633
        ],
        "angular_velocity": [
            -0.07732657343149185,
            -0.05793927237391472,
            -0.2904157340526581
        ],
        "forward_vector": [
            -0.988850474357605,
            -0.1487397998571396,
            -0.007163224276155233
        ],
        "right_vector": [
            0.1487482786178589,
            -0.9888748526573181,
            -0.0006625331589020789
        ],
        "location": [
            2957.35595703125,
            4257.04541015625,
            360.92913818359375
        ],
        "rotation": [
            0.03796133026480675,
            -0.4104260504245758,
            -171.4458770751953
        ],
        "velocity": [
            -8.56705379486084,
            -1.2859561443328857,
            -0.06864049285650253
        ],
        "speed": 8.663030297141239,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.399423599243164,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.864934921264648,
                "transform": {
                    "location": {
                        "x": 2901.653076171875,
                        "y": 4257.72119140625,
                        "z": 360.5361633300781
                    },
                    "rotation": {
                        "roll": -0.005035400390625,
                        "pitch": 0.3965197801589966,
                        "yaw": 9.66697883605957
                    }
                },
                "velocity": {
                    "x": 7.7569146156311035,
                    "y": 1.2978283166885376,
                    "z": 0.05584625154733658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.093392372131348,
                "transform": {
                    "location": {
                        "x": 2902.237548828125,
                        "y": 4254.52685546875,
                        "z": 360.5671081542969
                    },
                    "rotation": {
                        "roll": 0.012855038978159428,
                        "pitch": 0.39567282795906067,
                        "yaw": 9.660158157348633
                    }
                },
                "velocity": {
                    "x": 7.982076644897461,
                    "y": 1.3364830017089844,
                    "z": 0.05717146769165993
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062381744384766,
                "transform": {
                    "location": {
                        "x": 2941.464599609375,
                        "y": 4264.2041015625,
                        "z": 360.8258056640625
                    },
                    "rotation": {
                        "roll": -0.0007324207108467817,
                        "pitch": 0.4202136993408203,
                        "yaw": 9.206548690795898
                    }
                },
                "velocity": {
                    "x": 7.958313465118408,
                    "y": 1.2897862195968628,
                    "z": 0.06083466485142708
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99898099899292,
                "transform": {
                    "location": {
                        "x": 2941.966796875,
                        "y": 4260.99267578125,
                        "z": 360.82562255859375
                    },
                    "rotation": {
                        "roll": -0.0009155268198810518,
                        "pitch": 0.42074644565582275,
                        "yaw": 9.199692726135254
                    }
                },
                "velocity": {
                    "x": 7.896169662475586,
                    "y": 1.276957392692566,
                    "z": 0.05989161506295204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.438487529754639,
                "transform": {
                    "location": {
                        "x": 2994.059814453125,
                        "y": 4262.63720703125,
                        "z": 361.26214599609375
                    },
                    "rotation": {
                        "roll": -0.000152590248035267,
                        "pitch": -0.4592960476875305,
                        "yaw": -170.78651428222656
                    }
                },
                "velocity": {
                    "x": -7.342309951782227,
                    "y": -1.1903525590896606,
                    "z": -0.0681491419672966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99452543258667,
                "transform": {
                    "location": {
                        "x": 2982.97119140625,
                        "y": 4270.92138671875,
                        "z": 361.1734924316406
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.5197842121124268,
                        "yaw": 9.185792922973633
                    }
                },
                "velocity": {
                    "x": 7.891712665557861,
                    "y": 1.2759532928466797,
                    "z": 0.07246910035610199
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016024589538574,
                "transform": {
                    "location": {
                        "x": 2983.5849609375,
                        "y": 4267.728515625,
                        "z": 361.1597595214844
                    },
                    "rotation": {
                        "roll": -0.00024413946084678173,
                        "pitch": 0.5249205231666565,
                        "yaw": 9.187201499938965
                    }
                },
                "velocity": {
                    "x": 7.912900447845459,
                    "y": 1.2795922756195068,
                    "z": 0.07280822843313217
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.012081146240234,
                "transform": {
                    "location": {
                        "x": 2961.802978515625,
                        "y": 4260.7080078125,
                        "z": 360.9777526855469
                    },
                    "rotation": {
                        "roll": -0.0015563990455120802,
                        "pitch": -0.5025379657745361,
                        "yaw": -170.8162384033203
                    }
                },
                "velocity": {
                    "x": -11.858073234558105,
                    "y": -1.914865493774414,
                    "z": -0.09732944518327713
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.271378517150879,
                "transform": {
                    "location": {
                        "x": 2975.166748046875,
                        "y": 4259.578125,
                        "z": 361.07342529296875
                    },
                    "rotation": {
                        "roll": 2.4023331206990406e-05,
                        "pitch": -0.5076606273651123,
                        "yaw": -170.80709838867188
                    }
                },
                "velocity": {
                    "x": -8.16483211517334,
                    "y": -1.3214112520217896,
                    "z": -0.07144387811422348
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.27432918548584,
                "transform": {
                    "location": {
                        "x": 2933.473388671875,
                        "y": 4256.123046875,
                        "z": 360.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0010270093334838748,
                        "pitch": -0.4101255238056183,
                        "yaw": -170.79042053222656
                    }
                },
                "velocity": {
                    "x": -11.12900161743164,
                    "y": -1.8024669885635376,
                    "z": -0.08324188739061356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.685939788818359,
                "transform": {
                    "location": {
                        "x": 3024.52685546875,
                        "y": 4277.6318359375,
                        "z": 361.5636901855469
                    },
                    "rotation": {
                        "roll": -0.0013427792582660913,
                        "pitch": 0.5114786624908447,
                        "yaw": 8.905879974365234
                    }
                },
                "velocity": {
                    "x": 6.600341796875,
                    "y": 1.0645025968551636,
                    "z": 0.06413297355175018
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.644096851348877,
                "transform": {
                    "location": {
                        "x": 3024.721435546875,
                        "y": 4274.3837890625,
                        "z": 361.55596923828125
                    },
                    "rotation": {
                        "roll": -9.155336010735482e-05,
                        "pitch": 0.4496176540851593,
                        "yaw": 9.214280128479004
                    }
                },
                "velocity": {
                    "x": 6.558354377746582,
                    "y": 1.0620070695877075,
                    "z": 0.06441798806190491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001591036794707179,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5294494628906
                    },
                    "rotation": {
                        "roll": -3.335131948389858e-09,
                        "pitch": -0.393097847700119,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": -1.675292878644541e-05,
                    "y": 4.7631234338041395e-05,
                    "z": -0.0015902355080470443
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.214494705200195,
                "transform": {
                    "location": {
                        "x": 2908.92578125,
                        "y": 4252.15283203125,
                        "z": 360.61065673828125
                    },
                    "rotation": {
                        "roll": 0.001393548329360783,
                        "pitch": -0.4324602484703064,
                        "yaw": -170.82211303710938
                    }
                },
                "velocity": {
                    "x": -9.09599494934082,
                    "y": -1.4715930223464966,
                    "z": -0.06484489887952805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.849593162536621,
                "transform": {
                    "location": {
                        "x": 2986.778564453125,
                        "y": 4264.75,
                        "z": 361.194091796875
                    },
                    "rotation": {
                        "roll": -0.00039672915590927005,
                        "pitch": -0.6797472238540649,
                        "yaw": -170.81092834472656
                    }
                },
                "velocity": {
                    "x": -10.709683418273926,
                    "y": -1.733917236328125,
                    "z": -0.09938836097717285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21020573377609253,
        "expert_target_speed": 9.10117952703511,
        "target_point": [
            17.012080701960365,
            0.4338590415370449
        ],
        "target_point_next": [
            68.00898261970093,
            1.001186220344227
        ]
    },
    "285": {
        "acceleration": [
            0.8170700073242188,
            0.12035131454467773,
            0.02498626708984375
        ],
        "angular_velocity": [
            -0.03058590553700924,
            -0.2831096351146698,
            0.03646600618958473
        ],
        "forward_vector": [
            -0.988869309425354,
            -0.1485748291015625,
            -0.007938658818602562
        ],
        "right_vector": [
            0.14858180284500122,
            -0.9889000654220581,
            -0.00029367359820753336
        ],
        "location": [
            2955.219970703125,
            4256.72412109375,
            360.91217041015625
        ],
        "rotation": [
            0.01682678796350956,
            -0.45485642552375793,
            -171.45538330078125
        ],
        "velocity": [
            -8.496341705322266,
            -1.2770166397094727,
            -0.0678928941488266
        ],
        "speed": 8.591774780084341,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.243471145629883,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.306713581085205,
                "transform": {
                    "location": {
                        "x": 2903.381103515625,
                        "y": 4258.01025390625,
                        "z": 360.5473327636719
                    },
                    "rotation": {
                        "roll": 9.426587348571047e-05,
                        "pitch": 0.5233700275421143,
                        "yaw": 9.52358627319336
                    }
                },
                "velocity": {
                    "x": 6.221010684967041,
                    "y": 1.0352411270141602,
                    "z": 0.04400697723031044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.9854865074157715,
                "transform": {
                    "location": {
                        "x": 2904.15673828125,
                        "y": 4254.84814453125,
                        "z": 360.5813293457031
                    },
                    "rotation": {
                        "roll": 0.006781195756047964,
                        "pitch": 0.31962552666664124,
                        "yaw": 9.492902755737305
                    }
                },
                "velocity": {
                    "x": 6.891024589538574,
                    "y": 1.1438206434249878,
                    "z": 0.049741096794605255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.98945951461792,
                "transform": {
                    "location": {
                        "x": 2943.4443359375,
                        "y": 4264.52490234375,
                        "z": 360.8406982421875
                    },
                    "rotation": {
                        "roll": -0.00042724222294054925,
                        "pitch": 0.4280957579612732,
                        "yaw": 9.199520111083984
                    }
                },
                "velocity": {
                    "x": 7.886496543884277,
                    "y": 1.2771034240722656,
                    "z": 0.06036391109228134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.050227165222168,
                "transform": {
                    "location": {
                        "x": 2943.94677734375,
                        "y": 4261.31298828125,
                        "z": 360.8404846191406
                    },
                    "rotation": {
                        "roll": -0.000976563896983862,
                        "pitch": 0.42599886655807495,
                        "yaw": 9.1908597946167
                    }
                },
                "velocity": {
                    "x": 7.947061061859131,
                    "y": 1.2832410335540771,
                    "z": 0.06049952283501625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.701614379882812,
                "transform": {
                    "location": {
                        "x": 2992.05615234375,
                        "y": 4262.3125,
                        "z": 361.24114990234375
                    },
                    "rotation": {
                        "roll": -0.0007934591267257929,
                        "pitch": -0.1841077357530594,
                        "yaw": -170.77154541015625
                    }
                },
                "velocity": {
                    "x": -8.58890151977539,
                    "y": -1.3937238454818726,
                    "z": -0.07993663102388382
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05510425567627,
                "transform": {
                    "location": {
                        "x": 2984.9521484375,
                        "y": 4271.24169921875,
                        "z": 361.19195556640625
                    },
                    "rotation": {
                        "roll": 0.0006394563824869692,
                        "pitch": 0.5231378078460693,
                        "yaw": 9.18535041809082
                    }
                },
                "velocity": {
                    "x": 7.951476097106934,
                    "y": 1.2858651876449585,
                    "z": 0.07269042730331421
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068795204162598,
                "transform": {
                    "location": {
                        "x": 2985.56982421875,
                        "y": 4268.0498046875,
                        "z": 361.1781921386719
                    },
                    "rotation": {
                        "roll": -0.0003356974630150944,
                        "pitch": 0.529735803604126,
                        "yaw": 9.181927680969238
                    }
                },
                "velocity": {
                    "x": 7.965085983276367,
                    "y": 1.2874571084976196,
                    "z": 0.0728868693113327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.736732482910156,
                "transform": {
                    "location": {
                        "x": 2958.7421875,
                        "y": 4260.212890625,
                        "z": 360.9529113769531
                    },
                    "rotation": {
                        "roll": -3.0517068807967007e-05,
                        "pitch": -0.5354936122894287,
                        "yaw": -170.8136444091797
                    }
                },
                "velocity": {
                    "x": -12.572986602783203,
                    "y": -2.03324294090271,
                    "z": -0.10144414752721786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.32778263092041,
                "transform": {
                    "location": {
                        "x": 2973.129638671875,
                        "y": 4259.24853515625,
                        "z": 361.0553894042969
                    },
                    "rotation": {
                        "roll": 0.00043840211583301425,
                        "pitch": -0.4905714690685272,
                        "yaw": -170.8069610595703
                    }
                },
                "velocity": {
                    "x": -8.220514297485352,
                    "y": -1.3304271697998047,
                    "z": -0.07123879343271255
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.865313529968262,
                "transform": {
                    "location": {
                        "x": 2930.7587890625,
                        "y": 4255.68359375,
                        "z": 360.7396545410156
                    },
                    "rotation": {
                        "roll": 0.0007851275731809437,
                        "pitch": -0.549256443977356,
                        "yaw": -170.8160400390625
                    }
                },
                "velocity": {
                    "x": -10.725581169128418,
                    "y": -1.7350950241088867,
                    "z": -0.07989442348480225
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3026.185791015625,
                        "y": 4277.86767578125,
                        "z": 361.57958984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3026.380859375,
                        "y": 4274.62255859375,
                        "z": 361.5731506347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037249724846333265,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5294189453125
                    },
                    "rotation": {
                        "roll": 0.0005182194290682673,
                        "pitch": -0.3930705487728119,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -2.1864248992642388e-05,
                    "y": 4.4759417505702004e-05,
                    "z": -0.0003691513848025352
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.919625282287598,
                "transform": {
                    "location": {
                        "x": 2906.69873046875,
                        "y": 4251.79296875,
                        "z": 360.5950012207031
                    },
                    "rotation": {
                        "roll": 0.0001806916989153251,
                        "pitch": -0.43411314487457275,
                        "yaw": -170.79592895507812
                    }
                },
                "velocity": {
                    "x": -8.804821014404297,
                    "y": -1.425091028213501,
                    "z": -0.06288725882768631
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.162367820739746,
                "transform": {
                    "location": {
                        "x": 2984.091796875,
                        "y": 4264.3154296875,
                        "z": 361.1692810058594
                    },
                    "rotation": {
                        "roll": 0.001063700532540679,
                        "pitch": -0.529052734375,
                        "yaw": -170.812255859375
                    }
                },
                "velocity": {
                    "x": -11.018916130065918,
                    "y": -1.7808425426483154,
                    "z": -0.1026918962597847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22278980910778046,
        "expert_target_speed": 10.0,
        "target_point": [
            14.851993629338835,
            0.4363231308085229
        ],
        "target_point_next": [
            65.84880070306548,
            1.0121126935560394
        ]
    },
    "290": {
        "acceleration": [
            0.7513809204101562,
            0.06610393524169922,
            0.01802802085876465
        ],
        "angular_velocity": [
            -0.04020686820149422,
            -0.1509721428155899,
            0.15782029926776886
        ],
        "forward_vector": [
            -0.9888174533843994,
            -0.1488705575466156,
            -0.00880694855004549
        ],
        "right_vector": [
            0.14887721836566925,
            -0.9888557195663452,
            -0.00010018673492595553
        ],
        "location": [
            2953.11767578125,
            4256.408203125,
            360.8957214355469
        ],
        "rotation": [
            0.005740499589592218,
            -0.5046074986457825,
            -171.4381866455078
        ],
        "velocity": [
            -8.305853843688965,
            -1.2531965970993042,
            -0.06626177579164505
        ],
        "speed": 8.399863676495233,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.122417449951172,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.460237979888916,
                "transform": {
                    "location": {
                        "x": 2904.930908203125,
                        "y": 4258.2685546875,
                        "z": 360.55914306640625
                    },
                    "rotation": {
                        "roll": 0.0022331667132675648,
                        "pitch": 0.41505691409111023,
                        "yaw": 9.471631050109863
                    }
                },
                "velocity": {
                    "x": 6.372694492340088,
                    "y": 1.0589724779129028,
                    "z": 0.04491404443979263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.92653751373291,
                "transform": {
                    "location": {
                        "x": 2905.6953125,
                        "y": 4255.103515625,
                        "z": 360.5924072265625
                    },
                    "rotation": {
                        "roll": 0.003504233667626977,
                        "pitch": 0.2906518578529358,
                        "yaw": 9.4801025390625
                    }
                },
                "velocity": {
                    "x": 5.846671104431152,
                    "y": 0.9688354134559631,
                    "z": 0.04051332548260689
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058738708496094,
                "transform": {
                    "location": {
                        "x": 2945.425048828125,
                        "y": 4264.845703125,
                        "z": 360.8556823730469
                    },
                    "rotation": {
                        "roll": -0.00012206633255118504,
                        "pitch": 0.4264633357524872,
                        "yaw": 9.195210456848145
                    }
                },
                "velocity": {
                    "x": 7.954961776733398,
                    "y": 1.287722110748291,
                    "z": 0.06024826690554619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999864101409912,
                "transform": {
                    "location": {
                        "x": 2945.927001953125,
                        "y": 4261.6337890625,
                        "z": 360.85552978515625
                    },
                    "rotation": {
                        "roll": 0.00037015447742305696,
                        "pitch": 0.4264974892139435,
                        "yaw": 9.187959671020508
                    }
                },
                "velocity": {
                    "x": 7.896984577178955,
                    "y": 1.2774169445037842,
                    "z": 0.06056629866361618
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.711440086364746,
                "transform": {
                    "location": {
                        "x": 2989.75732421875,
                        "y": 4261.939453125,
                        "z": 361.22015380859375
                    },
                    "rotation": {
                        "roll": -0.0002441397518850863,
                        "pitch": -0.24319569766521454,
                        "yaw": -170.77609252929688
                    }
                },
                "velocity": {
                    "x": -9.585798263549805,
                    "y": -1.5545225143432617,
                    "z": -0.08944787830114365
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995847225189209,
                "transform": {
                    "location": {
                        "x": 2986.932373046875,
                        "y": 4271.56201171875,
                        "z": 361.2103576660156
                    },
                    "rotation": {
                        "roll": 0.0004480499483179301,
                        "pitch": 0.5262592434883118,
                        "yaw": 9.185452461242676
                    }
                },
                "velocity": {
                    "x": 7.892994403839111,
                    "y": 1.2763012647628784,
                    "z": 0.07254436612129211
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016595840454102,
                "transform": {
                    "location": {
                        "x": 2987.55419921875,
                        "y": 4268.37109375,
                        "z": 361.19671630859375
                    },
                    "rotation": {
                        "roll": 0.00010591917089186609,
                        "pitch": 0.5310881733894348,
                        "yaw": 9.181892395019531
                    }
                },
                "velocity": {
                    "x": 7.913548946380615,
                    "y": 1.2791367769241333,
                    "z": 0.07329618185758591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.688223838806152,
                "transform": {
                    "location": {
                        "x": 2955.699951171875,
                        "y": 4259.72119140625,
                        "z": 360.9270935058594
                    },
                    "rotation": {
                        "roll": -0.0009460454457439482,
                        "pitch": -0.3814387321472168,
                        "yaw": -170.8137664794922
                    }
                },
                "velocity": {
                    "x": -11.537960052490234,
                    "y": -1.8658483028411865,
                    "z": -0.09311733394861221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.354636192321777,
                "transform": {
                    "location": {
                        "x": 2971.064697265625,
                        "y": 4258.91455078125,
                        "z": 361.0373840332031
                    },
                    "rotation": {
                        "roll": 0.000654161733109504,
                        "pitch": -0.49554386734962463,
                        "yaw": -170.80662536621094
                    }
                },
                "velocity": {
                    "x": -8.247007369995117,
                    "y": -1.3347636461257935,
                    "z": -0.07228593528270721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.970913887023926,
                "transform": {
                    "location": {
                        "x": 2928.173095703125,
                        "y": 4255.265625,
                        "z": 360.7208251953125
                    },
                    "rotation": {
                        "roll": -0.0003051736275665462,
                        "pitch": -0.5915558338165283,
                        "yaw": -170.79562377929688
                    }
                },
                "velocity": {
                    "x": -9.842694282531738,
                    "y": -1.5922080278396606,
                    "z": -0.07330767065286636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3027.787109375,
                        "y": 4278.09521484375,
                        "z": 361.5948791503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3027.993408203125,
                        "y": 4274.84716796875,
                        "z": 361.5903015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5294189453125
                    },
                    "rotation": {
                        "roll": 0.0005182194290682673,
                        "pitch": -0.3930705487728119,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.3280668258667,
                "transform": {
                    "location": {
                        "x": 2904.456787109375,
                        "y": 4251.4296875,
                        "z": 360.57867431640625
                    },
                    "rotation": {
                        "roll": -0.0014648400247097015,
                        "pitch": -0.37463584542274475,
                        "yaw": -170.813232421875
                    }
                },
                "velocity": {
                    "x": -9.207886695861816,
                    "y": -1.4911218881607056,
                    "z": -0.06481579691171646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.989426612854004,
                "transform": {
                    "location": {
                        "x": 2981.260498046875,
                        "y": 4263.857421875,
                        "z": 361.1431884765625
                    },
                    "rotation": {
                        "roll": -0.0015258777420967817,
                        "pitch": -0.4197697341442108,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -11.834918022155762,
                    "y": -1.915541172027588,
                    "z": -0.10854516923427582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2526785135269165,
        "expert_target_speed": 0,
        "target_point": [
            12.726224545287332,
            0.43245290941825454
        ],
        "target_point_next": [
            63.72320202211032,
            0.992946944954765
        ]
    },
    "295": {
        "acceleration": [
            3.4741592407226562,
            0.4787325859069824,
            0.027257874608039856
        ],
        "angular_velocity": [
            0.022388705983757973,
            -0.7663224339485168,
            0.24520812928676605
        ],
        "forward_vector": [
            -0.9886658787727356,
            -0.14975279569625854,
            -0.010674749501049519
        ],
        "right_vector": [
            0.1497606486082077,
            -0.9887223243713379,
            6.444478640332818e-05
        ],
        "location": [
            2951.103271484375,
            4256.10302734375,
            360.88043212890625
        ],
        "rotation": [
            -0.0036926246248185635,
            -0.6116297245025635,
            -171.38690185546875
        ],
        "velocity": [
            -7.742157936096191,
            -1.1766506433486938,
            -0.05970112979412079
        ],
        "speed": 7.83106099094817,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.090511322021484,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.849749565124512,
                "transform": {
                    "location": {
                        "x": 2906.6015625,
                        "y": 4258.54541015625,
                        "z": 360.5714111328125
                    },
                    "rotation": {
                        "roll": -0.0016174284974113107,
                        "pitch": 0.3552722632884979,
                        "yaw": 9.41464900970459
                    }
                },
                "velocity": {
                    "x": 6.75908088684082,
                    "y": 1.1097943782806396,
                    "z": 0.04745105654001236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.1239013671875,
                "transform": {
                    "location": {
                        "x": 2907.1875,
                        "y": 4255.35009765625,
                        "z": 360.6021423339844
                    },
                    "rotation": {
                        "roll": 0.004893684759736061,
                        "pitch": 0.38670480251312256,
                        "yaw": 9.402385711669922
                    }
                },
                "velocity": {
                    "x": 6.04313325881958,
                    "y": 0.9904414415359497,
                    "z": 0.0416238009929657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996179580688477,
                "transform": {
                    "location": {
                        "x": 2947.40576171875,
                        "y": 4265.16650390625,
                        "z": 360.8708801269531
                    },
                    "rotation": {
                        "roll": -0.0003967291850131005,
                        "pitch": 0.4321118891239166,
                        "yaw": 9.191781997680664
                    }
                },
                "velocity": {
                    "x": 7.893278121948242,
                    "y": 1.277264952659607,
                    "z": 0.06034698337316513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054535865783691,
                "transform": {
                    "location": {
                        "x": 2947.90869140625,
                        "y": 4261.9541015625,
                        "z": 360.8707580566406
                    },
                    "rotation": {
                        "roll": 5.189489911572309e-06,
                        "pitch": 0.4319411516189575,
                        "yaw": 9.187984466552734
                    }
                },
                "velocity": {
                    "x": 7.950965404510498,
                    "y": 1.2860571146011353,
                    "z": 0.061176300048828125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.98985767364502,
                "transform": {
                    "location": {
                        "x": 2987.44091796875,
                        "y": 4261.5634765625,
                        "z": 361.2018127441406
                    },
                    "rotation": {
                        "roll": -6.104534986661747e-05,
                        "pitch": -0.6459992527961731,
                        "yaw": -170.79037475585938
                    }
                },
                "velocity": {
                    "x": -8.873739242553711,
                    "y": -1.4378461837768555,
                    "z": -0.08305513858795166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053845405578613,
                "transform": {
                    "location": {
                        "x": 2988.9130859375,
                        "y": 4271.88232421875,
                        "z": 361.22882080078125
                    },
                    "rotation": {
                        "roll": 0.0006441858713515103,
                        "pitch": 0.5248317122459412,
                        "yaw": 9.185368537902832
                    }
                },
                "velocity": {
                    "x": 7.950234889984131,
                    "y": 1.2855966091156006,
                    "z": 0.07371892780065536
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067644119262695,
                "transform": {
                    "location": {
                        "x": 2989.539306640625,
                        "y": 4268.6923828125,
                        "z": 361.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00042724524973891675,
                        "pitch": 0.5297699570655823,
                        "yaw": 9.181978225708008
                    }
                },
                "velocity": {
                    "x": 7.963953018188477,
                    "y": 1.2872300148010254,
                    "z": 0.07325815409421921
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.24329662322998,
                "transform": {
                    "location": {
                        "x": 2952.91455078125,
                        "y": 4259.2705078125,
                        "z": 360.9051208496094
                    },
                    "rotation": {
                        "roll": 0.0008523763972334564,
                        "pitch": -0.3946756422519684,
                        "yaw": -170.8115692138672
                    }
                },
                "velocity": {
                    "x": -11.098370552062988,
                    "y": -1.7973006963729858,
                    "z": -0.08721588551998138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.441944122314453,
                "transform": {
                    "location": {
                        "x": 2968.9658203125,
                        "y": 4258.57470703125,
                        "z": 361.0191650390625
                    },
                    "rotation": {
                        "roll": -0.0012207023100927472,
                        "pitch": -0.4800119996070862,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -8.33321762084961,
                    "y": -1.3486546277999878,
                    "z": -0.07097885757684708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.29338550567627,
                "transform": {
                    "location": {
                        "x": 2925.830810546875,
                        "y": 4254.88623046875,
                        "z": 360.7038879394531
                    },
                    "rotation": {
                        "roll": -0.0001831016707001254,
                        "pitch": -0.6163562536239624,
                        "yaw": -170.82211303710938
                    }
                },
                "velocity": {
                    "x": -9.17406940460205,
                    "y": -1.4828461408615112,
                    "z": -0.06810569763183594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3828,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3029.33154296875,
                        "y": 4278.3212890625,
                        "z": 361.6097106933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3827,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3029.549560546875,
                        "y": 4275.06396484375,
                        "z": 361.6068420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010001130867749453,
                "transform": {
                    "location": {
                        "x": 2897.871826171875,
                        "y": 4247.17236328125,
                        "z": 360.5294189453125
                    },
                    "rotation": {
                        "roll": 0.0005182194290682673,
                        "pitch": -0.3930705487728119,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -5.308091658662306e-06,
                    "y": 2.8393509637680836e-05,
                    "z": -0.0009996958542615175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.879130363464355,
                "transform": {
                    "location": {
                        "x": 2902.183349609375,
                        "y": 4251.06201171875,
                        "z": 360.563232421875
                    },
                    "rotation": {
                        "roll": -9.15530399652198e-05,
                        "pitch": -0.422973096370697,
                        "yaw": -170.79379272460938
                    }
                },
                "velocity": {
                    "x": -8.764796257019043,
                    "y": -1.4189635515213013,
                    "z": -0.06194435805082321
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.190237045288086,
                "transform": {
                    "location": {
                        "x": 2978.217041015625,
                        "y": 4263.36474609375,
                        "z": 361.1154479980469
                    },
                    "rotation": {
                        "roll": 0.0010074626188725233,
                        "pitch": -0.4646236002445221,
                        "yaw": -170.8095703125
                    }
                },
                "velocity": {
                    "x": -12.033206939697266,
                    "y": -1.9471824169158936,
                    "z": -0.11083439737558365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.28298184275627136,
        "expert_target_speed": 0,
        "target_point": [
            10.689216770008246,
            0.4210079978646024
        ],
        "target_point_next": [
            61.68667547602018,
            0.935858329583958
        ]
    },
    "300": {
        "acceleration": [
            0.9083080291748047,
            0.03378629684448242,
            0.017699748277664185
        ],
        "angular_velocity": [
            -0.09375008940696716,
            0.3486734628677368,
            0.7094432711601257
        ],
        "forward_vector": [
            -0.9882848262786865,
            -0.1520797461271286,
            -0.012837652117013931
        ],
        "right_vector": [
            0.1520875096321106,
            -0.988366961479187,
            0.00037440937012434006
        ],
        "location": [
            2949.27392578125,
            4255.82177734375,
            360.8666687011719
        ],
        "rotation": [
            -0.021453846246004105,
            -0.7355635166168213,
            -171.25180053710938
        ],
        "velocity": [
            -7.0137457847595215,
            -1.0916082859039307,
            -0.05419033393263817
        ],
        "speed": 7.098185583871844,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.245441436767578,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.578085899353027,
                "transform": {
                    "location": {
                        "x": 2908.591552734375,
                        "y": 4258.87255859375,
                        "z": 360.5862121582031
                    },
                    "rotation": {
                        "roll": 0.00041198855615220964,
                        "pitch": 0.26634320616722107,
                        "yaw": 9.334834098815918
                    }
                },
                "velocity": {
                    "x": 8.46487808227539,
                    "y": 1.3876997232437134,
                    "z": 0.06067320704460144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.489086151123047,
                "transform": {
                    "location": {
                        "x": 2909.03173828125,
                        "y": 4255.65283203125,
                        "z": 360.6134338378906
                    },
                    "rotation": {
                        "roll": 0.0034731910564005375,
                        "pitch": 0.5889672040939331,
                        "yaw": 9.323066711425781
                    }
                },
                "velocity": {
                    "x": 8.377455711364746,
                    "y": 1.3708702325820923,
                    "z": 0.0594664067029953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055556297302246,
                "transform": {
                    "location": {
                        "x": 2949.38671875,
                        "y": 4265.48681640625,
                        "z": 360.88623046875
                    },
                    "rotation": {
                        "roll": -0.00051879946840927,
                        "pitch": 0.4397275447845459,
                        "yaw": 9.191941261291504
                    }
                },
                "velocity": {
                    "x": 7.951890468597412,
                    "y": 1.2867228984832764,
                    "z": 0.061412323266267776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995829105377197,
                "transform": {
                    "location": {
                        "x": 2949.888671875,
                        "y": 4262.2744140625,
                        "z": 360.8860778808594
                    },
                    "rotation": {
                        "roll": 0.001125477021560073,
                        "pitch": 0.4410321116447449,
                        "yaw": 9.191349029541016
                    }
                },
                "velocity": {
                    "x": 7.892903804779053,
                    "y": 1.2773337364196777,
                    "z": 0.06143622100353241
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.436620712280273,
                "transform": {
                    "location": {
                        "x": 2985.309326171875,
                        "y": 4261.21826171875,
                        "z": 361.1826477050781
                    },
                    "rotation": {
                        "roll": 0.0011553947115316987,
                        "pitch": -0.7244576215744019,
                        "yaw": -170.80348205566406
                    }
                },
                "velocity": {
                    "x": -8.327775955200195,
                    "y": -1.3485455513000488,
                    "z": -0.07838845252990723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995911598205566,
                "transform": {
                    "location": {
                        "x": 2990.89306640625,
                        "y": 4272.20263671875,
                        "z": 361.2473449707031
                    },
                    "rotation": {
                        "roll": 0.0009425122989341617,
                        "pitch": 0.5251322388648987,
                        "yaw": 9.185603141784668
                    }
                },
                "velocity": {
                    "x": 7.893039226531982,
                    "y": 1.2764222621917725,
                    "z": 0.07264833152294159
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.015742301940918,
                "transform": {
                    "location": {
                        "x": 2991.523681640625,
                        "y": 4269.013671875,
                        "z": 361.2337951660156
                    },
                    "rotation": {
                        "roll": 1.024572156893555e-05,
                        "pitch": 0.5296947956085205,
                        "yaw": 9.181848526000977
                    }
                },
                "velocity": {
                    "x": 7.912712097167969,
                    "y": 1.278960108757019,
                    "z": 0.0733070895075798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.89244556427002,
                "transform": {
                    "location": {
                        "x": 2950.05908203125,
                        "y": 4258.80810546875,
                        "z": 360.8834533691406
                    },
                    "rotation": {
                        "roll": 0.0003962086630053818,
                        "pitch": -0.4876071810722351,
                        "yaw": -170.80242919921875
                    }
                },
                "velocity": {
                    "x": -11.739213943481445,
                    "y": -1.9007254838943481,
                    "z": -0.09147046506404877
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.235776424407959,
                "transform": {
                    "location": {
                        "x": 2967.029541015625,
                        "y": 4258.26123046875,
                        "z": 361.0030822753906
                    },
                    "rotation": {
                        "roll": -0.0005187976057641208,
                        "pitch": -0.5438196063041687,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -7.1426005363464355,
                    "y": -1.1559221744537354,
                    "z": -0.05968884006142616
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.930062294006348,
                "transform": {
                    "location": {
                        "x": 2923.47314453125,
                        "y": 4254.50537109375,
                        "z": 360.68408203125
                    },
                    "rotation": {
                        "roll": 0.0006498514558188617,
                        "pitch": -0.31255626678466797,
                        "yaw": -170.80276489257812
                    }
                },
                "velocity": {
                    "x": -9.802435874938965,
                    "y": -1.5853664875030518,
                    "z": -0.07075001299381256
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2593711614608765,
                "transform": {
                    "location": {
                        "x": 2897.69873046875,
                        "y": 4247.142578125,
                        "z": 360.52728271484375
                    },
                    "rotation": {
                        "roll": -0.005462646018713713,
                        "pitch": -0.29565155506134033,
                        "yaw": -170.7073516845703
                    }
                },
                "velocity": {
                    "x": -1.2394462823867798,
                    "y": -0.22299405932426453,
                    "z": -0.00788820255547762
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3755,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4770097732543945,
                "transform": {
                    "location": {
                        "x": 2900.1689453125,
                        "y": 4250.7353515625,
                        "z": 360.54998779296875
                    },
                    "rotation": {
                        "roll": 0.000604686327278614,
                        "pitch": -0.5162051916122437,
                        "yaw": -170.8170623779297
                    }
                },
                "velocity": {
                    "x": -7.380726337432861,
                    "y": -1.1949405670166016,
                    "z": -0.05172049254179001
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.484150886535645,
                "transform": {
                    "location": {
                        "x": 2975.195556640625,
                        "y": 4262.8759765625,
                        "z": 361.0882873535156
                    },
                    "rotation": {
                        "roll": 0.0007584093837067485,
                        "pitch": -0.4649377763271332,
                        "yaw": -170.80673217773438
                    }
                },
                "velocity": {
                    "x": -12.323445320129395,
                    "y": -1.9937227964401245,
                    "z": -0.1085667610168457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3150922358036041,
        "expert_target_speed": 0,
        "target_point": [
            8.839340179594375,
            0.3960531927097575
        ],
        "target_point_next": [
            59.83787110862855,
            0.7906522497394715
        ]
    },
    "305": {
        "acceleration": [
            5.539760589599609,
            0.8059549331665039,
            0.049516260623931885
        ],
        "angular_velocity": [
            0.16787788271903992,
            -0.9181877374649048,
            0.5848619937896729
        ],
        "forward_vector": [
            -0.9877957701683044,
            -0.1548498272895813,
            -0.01676015928387642
        ],
        "right_vector": [
            0.1548646241426468,
            -0.9879356026649475,
            0.00041912271990440786
        ],
        "location": [
            2947.68310546875,
            4255.572265625,
            360.8553161621094
        ],
        "rotation": [
            -0.02401733584702015,
            -0.960331380367279,
            -171.0906524658203
        ],
        "velocity": [
            -5.510505199432373,
            -0.8755829930305481,
            -0.04157325252890587
        ],
        "speed": 5.5796337810519026,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.640877723693848,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.987097263336182,
                "transform": {
                    "location": {
                        "x": 2910.6376953125,
                        "y": 4259.20849609375,
                        "z": 360.5995178222656
                    },
                    "rotation": {
                        "roll": -0.0009155304287560284,
                        "pitch": 0.42382004857063293,
                        "yaw": 9.306160926818848
                    }
                },
                "velocity": {
                    "x": 7.882176399230957,
                    "y": 1.2891337871551514,
                    "z": 0.05617751181125641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.138923645019531,
                "transform": {
                    "location": {
                        "x": 2911.103759765625,
                        "y": 4255.99169921875,
                        "z": 360.629638671875
                    },
                    "rotation": {
                        "roll": 0.0007765922346152365,
                        "pitch": 0.4291544258594513,
                        "yaw": 9.291055679321289
                    }
                },
                "velocity": {
                    "x": 8.031973838806152,
                    "y": 1.3138538599014282,
                    "z": 0.05712887644767761
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996600151062012,
                "transform": {
                    "location": {
                        "x": 2951.3671875,
                        "y": 4265.8076171875,
                        "z": 360.9017028808594
                    },
                    "rotation": {
                        "roll": -0.00030517642153427005,
                        "pitch": 0.44116872549057007,
                        "yaw": 9.188423156738281
                    }
                },
                "velocity": {
                    "x": 7.893789291381836,
                    "y": 1.2766774892807007,
                    "z": 0.0616656094789505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.057307243347168,
                "transform": {
                    "location": {
                        "x": 2951.869873046875,
                        "y": 4262.595703125,
                        "z": 360.9015808105469
                    },
                    "rotation": {
                        "roll": 0.0015395060181617737,
                        "pitch": 0.4402466416358948,
                        "yaw": 9.191978454589844
                    }
                },
                "velocity": {
                    "x": 7.953607082366943,
                    "y": 1.287050485610962,
                    "z": 0.061904992908239365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.150964260101318,
                "transform": {
                    "location": {
                        "x": 2983.471923828125,
                        "y": 4260.923828125,
                        "z": 361.1679992675781
                    },
                    "rotation": {
                        "roll": 0.002354986732825637,
                        "pitch": -1.0281893014907837,
                        "yaw": -170.5316162109375
                    }
                },
                "velocity": {
                    "x": -5.086019039154053,
                    "y": -0.8140060305595398,
                    "z": -0.047287311404943466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055017471313477,
                "transform": {
                    "location": {
                        "x": 2992.8740234375,
                        "y": 4272.52294921875,
                        "z": 361.2658386230469
                    },
                    "rotation": {
                        "roll": 0.0003325787838548422,
                        "pitch": 0.5252825021743774,
                        "yaw": 9.185269355773926
                    }
                },
                "velocity": {
                    "x": 7.951388359069824,
                    "y": 1.2858113050460815,
                    "z": 0.07361660152673721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068449020385742,
                "transform": {
                    "location": {
                        "x": 2993.5087890625,
                        "y": 4269.3349609375,
                        "z": 361.2522888183594
                    },
                    "rotation": {
                        "roll": -0.0007019054028205574,
                        "pitch": 0.5306373834609985,
                        "yaw": 9.180683135986328
                    }
                },
                "velocity": {
                    "x": 7.964754581451416,
                    "y": 1.2872649431228638,
                    "z": 0.07420036196708679
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.367384910583496,
                "transform": {
                    "location": {
                        "x": 2947.07470703125,
                        "y": 4258.32470703125,
                        "z": 360.86041259765625
                    },
                    "rotation": {
                        "roll": 0.0009053123649209738,
                        "pitch": -0.48311975598335266,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": -12.208260536193848,
                    "y": -1.975346326828003,
                    "z": -0.09268561005592346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.534597873687744,
                "transform": {
                    "location": {
                        "x": 2965.360595703125,
                        "y": 4257.99072265625,
                        "z": 360.98883056640625
                    },
                    "rotation": {
                        "roll": 0.0004989621229469776,
                        "pitch": -0.5320102572441101,
                        "yaw": -170.80712890625
                    }
                },
                "velocity": {
                    "x": -6.450439929962158,
                    "y": -1.0439496040344238,
                    "z": -0.054404694586992264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.582610130310059,
                "transform": {
                    "location": {
                        "x": 2920.94140625,
                        "y": 4254.095703125,
                        "z": 360.6651916503906
                    },
                    "rotation": {
                        "roll": -0.0006408708286471665,
                        "pitch": -0.2346511334180832,
                        "yaw": -170.78219604492188
                    }
                },
                "velocity": {
                    "x": -10.446565628051758,
                    "y": -1.6897623538970947,
                    "z": -0.07494531571865082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2871.08984375,
                        "y": 4249.42333984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2870.57080078125,
                        "y": 4252.6318359375,
                        "z": 360.4104309082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1364564895629883,
                "transform": {
                    "location": {
                        "x": 2897.283447265625,
                        "y": 4247.0693359375,
                        "z": 360.5244445800781
                    },
                    "rotation": {
                        "roll": -0.006011964287608862,
                        "pitch": -0.2973317801952362,
                        "yaw": -170.52516174316406
                    }
                },
                "velocity": {
                    "x": -2.1024532318115234,
                    "y": -0.37938228249549866,
                    "z": -0.014349899254739285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.953973293304443,
                "transform": {
                    "location": {
                        "x": 2988.9814453125,
                        "y": 4265.20703125,
                        "z": 361.4986572265625
                    },
                    "rotation": {
                        "roll": 6.670390018115313e-09,
                        "pitch": -0.5282331705093384,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -6.695903778076172,
                    "y": -1.0834906101226807,
                    "z": -1.5325345993041992
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.141885757446289,
                "transform": {
                    "location": {
                        "x": 2972.128173828125,
                        "y": 4262.3798828125,
                        "z": 361.06109619140625
                    },
                    "rotation": {
                        "roll": 0.0016058196779340506,
                        "pitch": -0.5280418992042542,
                        "yaw": -170.81260681152344
                    }
                },
                "velocity": {
                    "x": -11.985471725463867,
                    "y": -1.9397599697113037,
                    "z": -0.10572779178619385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3401808440685272,
        "expert_target_speed": 0,
        "target_point": [
            58.2295893614961,
            0.6222331648385868
        ],
        "target_point_next": [
            100.22907421954109,
            0.8292037979358735
        ]
    },
    "310": {
        "acceleration": [
            17.315675735473633,
            2.759547472000122,
            0.11620766669511795
        ],
        "angular_velocity": [
            0.4667753577232361,
            -2.676236152648926,
            0.00272884638980031
        ],
        "forward_vector": [
            -0.9870374798774719,
            -0.1559622883796692,
            -0.03785146400332451
        ],
        "right_vector": [
            0.15607106685638428,
            -0.9877458214759827,
            8.196662383852527e-05
        ],
        "location": [
            2947.020263671875,
            4255.46728515625,
            360.8544921875
        ],
        "rotation": [
            -0.004699709825217724,
            -2.1692473888397217,
            -171.02090454101562
        ],
        "velocity": [
            -0.007945309393107891,
            -0.0017188391648232937,
            -0.001958762761205435
        ],
        "speed": 0.008129105081541198,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.972452163696289,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932522296905518,
                "transform": {
                    "location": {
                        "x": 2912.583740234375,
                        "y": 4259.52587890625,
                        "z": 360.6134338378906
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.4182124733924866,
                        "yaw": 9.262367248535156
                    }
                },
                "velocity": {
                    "x": 7.829427242279053,
                    "y": 1.2734951972961426,
                    "z": 0.05645742267370224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.767849445343018,
                "transform": {
                    "location": {
                        "x": 2913.04248046875,
                        "y": 4256.3076171875,
                        "z": 360.64385986328125
                    },
                    "rotation": {
                        "roll": 0.0005830700974911451,
                        "pitch": 0.3793964982032776,
                        "yaw": 9.255193710327148
                    }
                },
                "velocity": {
                    "x": 7.666896820068359,
                    "y": 1.2470051050186157,
                    "z": 0.0561823733150959
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055388450622559,
                "transform": {
                    "location": {
                        "x": 2953.34814453125,
                        "y": 4266.1279296875,
                        "z": 360.91741943359375
                    },
                    "rotation": {
                        "roll": 0.0008698253659531474,
                        "pitch": 0.4503006935119629,
                        "yaw": 9.18982982635498
                    }
                },
                "velocity": {
                    "x": 7.951462268829346,
                    "y": 1.2881717681884766,
                    "z": 0.06441594660282135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9955291748046875,
                "transform": {
                    "location": {
                        "x": 2953.850341796875,
                        "y": 4262.916015625,
                        "z": 360.91729736328125
                    },
                    "rotation": {
                        "roll": 0.0002716985181905329,
                        "pitch": 0.45045778155326843,
                        "yaw": 9.188790321350098
                    }
                },
                "velocity": {
                    "x": 7.892683506011963,
                    "y": 1.2766884565353394,
                    "z": 0.06404033303260803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.263324737548828,
                "transform": {
                    "location": {
                        "x": 2982.2177734375,
                        "y": 4260.72119140625,
                        "z": 361.1551208496094
                    },
                    "rotation": {
                        "roll": -0.008178703486919403,
                        "pitch": -0.8714228272438049,
                        "yaw": -170.52545166015625
                    }
                },
                "velocity": {
                    "x": -5.1950507164001465,
                    "y": -0.8437476754188538,
                    "z": -0.04612446203827858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995415210723877,
                "transform": {
                    "location": {
                        "x": 2994.85400390625,
                        "y": 4272.84326171875,
                        "z": 361.2843322753906
                    },
                    "rotation": {
                        "roll": 0.0007948966231197119,
                        "pitch": 0.5253235101699829,
                        "yaw": 9.185504913330078
                    }
                },
                "velocity": {
                    "x": 7.89255952835083,
                    "y": 1.2762706279754639,
                    "z": 0.0728122889995575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01618480682373,
                "transform": {
                    "location": {
                        "x": 2995.4931640625,
                        "y": 4269.65625,
                        "z": 361.2708435058594
                    },
                    "rotation": {
                        "roll": -0.00012206818064441904,
                        "pitch": 0.5304939150810242,
                        "yaw": 9.177634239196777
                    }
                },
                "velocity": {
                    "x": 7.913269996643066,
                    "y": 1.2782622575759888,
                    "z": 0.07365335524082184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.170310020446777,
                "transform": {
                    "location": {
                        "x": 2943.9931640625,
                        "y": 4257.82666015625,
                        "z": 360.8366394042969
                    },
                    "rotation": {
                        "roll": 0.001212727976962924,
                        "pitch": -0.41989269852638245,
                        "yaw": -170.81460571289062
                    }
                },
                "velocity": {
                    "x": -12.013897895812988,
                    "y": -1.9427822828292847,
                    "z": -0.09112003445625305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.326414108276367,
                "transform": {
                    "location": {
                        "x": 2963.66650390625,
                        "y": 4257.716796875,
                        "z": 360.97406005859375
                    },
                    "rotation": {
                        "roll": 0.00027731817681342363,
                        "pitch": -0.4490097761154175,
                        "yaw": -170.8072509765625
                    }
                },
                "velocity": {
                    "x": -7.232069492340088,
                    "y": -1.1704087257385254,
                    "z": -0.06046115607023239
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.623921394348145,
                "transform": {
                    "location": {
                        "x": 2918.190185546875,
                        "y": 4253.650390625,
                        "z": 360.64483642578125
                    },
                    "rotation": {
                        "roll": -0.00073242123471573,
                        "pitch": -0.1784045249223709,
                        "yaw": -170.77008056640625
                    }
                },
                "velocity": {
                    "x": -11.474048614501953,
                    "y": -1.8587690591812134,
                    "z": -0.0821552723646164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2873.140625,
                        "y": 4249.75439453125,
                        "z": 360.3465881347656
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2872.62109375,
                        "y": 4252.962890625,
                        "z": 360.3465881347656
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4428210258483887,
                "transform": {
                    "location": {
                        "x": 2896.669921875,
                        "y": 4246.96435546875,
                        "z": 360.5206298828125
                    },
                    "rotation": {
                        "roll": -0.0011901843827217817,
                        "pitch": -0.3377118408679962,
                        "yaw": -170.45449829101562
                    }
                },
                "velocity": {
                    "x": -2.40771484375,
                    "y": -0.41230612993240356,
                    "z": -0.01696830801665783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.6959228515625,
                "transform": {
                    "location": {
                        "x": 2987.34521484375,
                        "y": 4264.93505859375,
                        "z": 361.14093017578125
                    },
                    "rotation": {
                        "roll": -0.0167236328125,
                        "pitch": -0.5411080718040466,
                        "yaw": -170.55844116210938
                    }
                },
                "velocity": {
                    "x": -6.59583044052124,
                    "y": -1.1524097919464111,
                    "z": -0.04850740358233452
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.97889518737793,
                "transform": {
                    "location": {
                        "x": 2969.17138671875,
                        "y": 4261.9013671875,
                        "z": 361.03533935546875
                    },
                    "rotation": {
                        "roll": 0.0002790087601169944,
                        "pitch": -0.5209658145904541,
                        "yaw": -170.8036346435547
                    }
                },
                "velocity": {
                    "x": -11.824416160583496,
                    "y": -1.9147998094558716,
                    "z": -0.10319255292415619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3437345325946808,
        "expert_target_speed": 10.0,
        "target_point": [
            57.559200064501105,
            0.5511042841773595
        ],
        "target_point_next": [
            99.55890576018706,
            0.7069460625307205
        ]
    },
    "315": {
        "acceleration": [
            -0.02068290486931801,
            -0.00894373282790184,
            0.002912187483161688
        ],
        "angular_velocity": [
            -0.5510743856430054,
            3.550391912460327,
            -0.0024380588438361883
        ],
        "forward_vector": [
            -0.9874622225761414,
            -0.15601517260074615,
            -0.024033257737755775
        ],
        "right_vector": [
            0.1560603231191635,
            -0.9877475500106812,
            -3.251596126574441e-06
        ],
        "location": [
            2947.01513671875,
            4255.46630859375,
            360.8514709472656
        ],
        "rotation": [
            0.00018635657033883035,
            -1.3771368265151978,
            -171.02171325683594
        ],
        "velocity": [
            0.010850630700588226,
            0.0016984213143587112,
            0.001745989779010415
        ],
        "speed": 0.01098275109258221,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.967220306396484,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.080676078796387,
                "transform": {
                    "location": {
                        "x": 2914.56640625,
                        "y": 4259.8486328125,
                        "z": 360.6279602050781
                    },
                    "rotation": {
                        "roll": -0.00012207240797579288,
                        "pitch": 0.38759955763816833,
                        "yaw": 9.241464614868164
                    }
                },
                "velocity": {
                    "x": 7.975897789001465,
                    "y": 1.2958183288574219,
                    "z": 0.05686637759208679
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.222716331481934,
                "transform": {
                    "location": {
                        "x": 2915.0244140625,
                        "y": 4256.63037109375,
                        "z": 360.65765380859375
                    },
                    "rotation": {
                        "roll": 0.00121543207205832,
                        "pitch": 0.436339795589447,
                        "yaw": 9.24429988861084
                    }
                },
                "velocity": {
                    "x": 8.115706443786621,
                    "y": 1.3210296630859375,
                    "z": 0.057020463049411774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9964118003845215,
                "transform": {
                    "location": {
                        "x": 2955.32861328125,
                        "y": 4266.4482421875,
                        "z": 360.9333801269531
                    },
                    "rotation": {
                        "roll": 4.132927278988063e-05,
                        "pitch": 0.4533401131629944,
                        "yaw": 9.191590309143066
                    }
                },
                "velocity": {
                    "x": 7.893486022949219,
                    "y": 1.2772696018218994,
                    "z": 0.06377191096544266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056133270263672,
                "transform": {
                    "location": {
                        "x": 2955.831298828125,
                        "y": 4263.236328125,
                        "z": 360.9332580566406
                    },
                    "rotation": {
                        "roll": 0.0009398474358022213,
                        "pitch": 0.4535382091999054,
                        "yaw": 9.193041801452637
                    }
                },
                "velocity": {
                    "x": 7.9523749351501465,
                    "y": 1.2871625423431396,
                    "z": 0.06500770151615143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.201287746429443,
                "transform": {
                    "location": {
                        "x": 2980.79833984375,
                        "y": 4260.48876953125,
                        "z": 361.1373596191406
                    },
                    "rotation": {
                        "roll": 0.0004634423239622265,
                        "pitch": -0.2664729952812195,
                        "yaw": -170.7889862060547
                    }
                },
                "velocity": {
                    "x": -6.121143817901611,
                    "y": -0.9922099113464355,
                    "z": -0.05552651733160019
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054914474487305,
                "transform": {
                    "location": {
                        "x": 2996.8349609375,
                        "y": 4273.16357421875,
                        "z": 361.30279541015625
                    },
                    "rotation": {
                        "roll": 0.001644223346374929,
                        "pitch": 0.5244833827018738,
                        "yaw": 9.191197395324707
                    }
                },
                "velocity": {
                    "x": 7.9508819580078125,
                    "y": 1.2883203029632568,
                    "z": 0.07321075350046158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067200660705566,
                "transform": {
                    "location": {
                        "x": 2997.47802734375,
                        "y": 4269.9775390625,
                        "z": 361.2893981933594
                    },
                    "rotation": {
                        "roll": -0.00042725191451609135,
                        "pitch": 0.5295445322990417,
                        "yaw": 9.179830551147461
                    }
                },
                "velocity": {
                    "x": 7.96351957321167,
                    "y": 1.2871289253234863,
                    "z": 0.07332288473844528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.240141868591309,
                "transform": {
                    "location": {
                        "x": 2941.1337890625,
                        "y": 4257.3642578125,
                        "z": 360.81463623046875
                    },
                    "rotation": {
                        "roll": -0.00018310599261894822,
                        "pitch": -0.34066933393478394,
                        "yaw": -170.81507873535156
                    }
                },
                "velocity": {
                    "x": -11.09571647644043,
                    "y": -1.794120192527771,
                    "z": -0.08374497294425964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.865568161010742,
                "transform": {
                    "location": {
                        "x": 2961.745849609375,
                        "y": 4257.40625,
                        "z": 360.95794677734375
                    },
                    "rotation": {
                        "roll": 0.0006485059857368469,
                        "pitch": -0.42974865436553955,
                        "yaw": -170.8145294189453
                    }
                },
                "velocity": {
                    "x": -7.764652729034424,
                    "y": -1.2542961835861206,
                    "z": -0.06383829563856125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.528175354003906,
                "transform": {
                    "location": {
                        "x": 2915.2041015625,
                        "y": 4253.1669921875,
                        "z": 360.62347412109375
                    },
                    "rotation": {
                        "roll": -0.000274654827080667,
                        "pitch": -0.19137506186962128,
                        "yaw": -170.8094482421875
                    }
                },
                "velocity": {
                    "x": -12.366686820983887,
                    "y": -2.003105640411377,
                    "z": -0.08842260390520096
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2875.19677734375,
                        "y": 4250.08740234375,
                        "z": 360.3521728515625
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2874.677490234375,
                        "y": 4253.2958984375,
                        "z": 360.3521728515625
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007846649386920035,
                "transform": {
                    "location": {
                        "x": 2896.43017578125,
                        "y": 4246.923828125,
                        "z": 360.5211181640625
                    },
                    "rotation": {
                        "roll": 0.00030457996763288975,
                        "pitch": -0.592225193977356,
                        "yaw": -170.4470977783203
                    }
                },
                "velocity": {
                    "x": 0.0006169427069835365,
                    "y": -5.562492515309714e-05,
                    "z": 0.00048164985491894186
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.204081058502197,
                "transform": {
                    "location": {
                        "x": 2985.733642578125,
                        "y": 4264.65576171875,
                        "z": 361.1603698730469
                    },
                    "rotation": {
                        "roll": -0.010162348859012127,
                        "pitch": -0.5420779585838318,
                        "yaw": -170.177978515625
                    }
                },
                "velocity": {
                    "x": -6.109840393066406,
                    "y": -1.0764868259429932,
                    "z": 0.04059764742851257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.150940895080566,
                "transform": {
                    "location": {
                        "x": 2966.206787109375,
                        "y": 4261.421875,
                        "z": 361.0099792480469
                    },
                    "rotation": {
                        "roll": 0.0008351615397259593,
                        "pitch": -0.4655798077583313,
                        "yaw": -170.81179809570312
                    }
                },
                "velocity": {
                    "x": -11.994486808776855,
                    "y": -1.940865159034729,
                    "z": -0.10348749905824661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3266696631908417,
        "expert_target_speed": 10.0,
        "target_point": [
            57.55397590028469,
            0.5517357443652404
        ],
        "target_point_next": [
            99.55367943693166,
            0.7081583062926526
        ]
    },
    "320": {
        "acceleration": [
            -0.02191762439906597,
            -0.0036125548649579287,
            0.005905420985072851
        ],
        "angular_velocity": [
            -0.23556138575077057,
            1.4694082736968994,
            -0.00038314872654154897
        ],
        "forward_vector": [
            -0.9876595139503479,
            -0.15604248642921448,
            -0.01339204702526331
        ],
        "right_vector": [
            0.15605677664279938,
            -0.9877480864524841,
            -2.2146617993712425e-05
        ],
        "location": [
            2947.01123046875,
            4255.46533203125,
            360.8492736816406
        ],
        "rotation": [
            0.001269021537154913,
            -0.7673307061195374,
            -171.0219268798828
        ],
        "velocity": [
            0.004657740704715252,
            0.0007440763292834163,
            0.0015843941364437342
        ],
        "speed": 0.0047167995564960374,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.963177680969238,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038628578186035,
                "transform": {
                    "location": {
                        "x": 2916.556884765625,
                        "y": 4260.171875,
                        "z": 360.6420593261719
                    },
                    "rotation": {
                        "roll": 0.0008490062900818884,
                        "pitch": 0.41058996319770813,
                        "yaw": 9.229962348937988
                    }
                },
                "velocity": {
                    "x": 7.934622764587402,
                    "y": 1.2876354455947876,
                    "z": 0.05749214068055153
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.950352191925049,
                "transform": {
                    "location": {
                        "x": 2917.02490234375,
                        "y": 4256.95556640625,
                        "z": 360.6722717285156
                    },
                    "rotation": {
                        "roll": 0.0025793660897761583,
                        "pitch": 0.39949774742126465,
                        "yaw": 9.230644226074219
                    }
                },
                "velocity": {
                    "x": 7.847534656524658,
                    "y": 1.2732349634170532,
                    "z": 0.056321773678064346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055740356445312,
                "transform": {
                    "location": {
                        "x": 2957.3095703125,
                        "y": 4266.7685546875,
                        "z": 360.9494323730469
                    },
                    "rotation": {
                        "roll": -0.0009460443980060518,
                        "pitch": 0.4553208649158478,
                        "yaw": 9.188004493713379
                    }
                },
                "velocity": {
                    "x": 7.95214319229126,
                    "y": 1.286119818687439,
                    "z": 0.06534629315137863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995828628540039,
                "transform": {
                    "location": {
                        "x": 2957.811767578125,
                        "y": 4263.5576171875,
                        "z": 360.9493408203125
                    },
                    "rotation": {
                        "roll": -0.00045775723992846906,
                        "pitch": 0.4561541676521301,
                        "yaw": 9.191425323486328
                    }
                },
                "velocity": {
                    "x": 7.893165111541748,
                    "y": 1.2755401134490967,
                    "z": 0.06494060158729553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.462402820587158,
                "transform": {
                    "location": {
                        "x": 2979.098388671875,
                        "y": 4260.21337890625,
                        "z": 361.12115478515625
                    },
                    "rotation": {
                        "roll": 0.0010007282253354788,
                        "pitch": -0.17477087676525116,
                        "yaw": -170.78594970703125
                    }
                },
                "velocity": {
                    "x": -7.3659348487854,
                    "y": -1.1941593885421753,
                    "z": -0.06665690243244171
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994995594024658,
                "transform": {
                    "location": {
                        "x": 2998.81494140625,
                        "y": 4273.484375,
                        "z": 361.3212890625
                    },
                    "rotation": {
                        "roll": 0.0006980224861763418,
                        "pitch": 0.5244765281677246,
                        "yaw": 9.196130752563477
                    }
                },
                "velocity": {
                    "x": 7.891551494598389,
                    "y": 1.2798821926116943,
                    "z": 0.07258474081754684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016632080078125,
                "transform": {
                    "location": {
                        "x": 2999.46240234375,
                        "y": 4270.298828125,
                        "z": 361.30792236328125
                    },
                    "rotation": {
                        "roll": -0.0007629427127540112,
                        "pitch": 0.529865562915802,
                        "yaw": 9.180498123168945
                    }
                },
                "velocity": {
                    "x": 7.913624286651611,
                    "y": 1.2789300680160522,
                    "z": 0.07270956039428711
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.700845718383789,
                "transform": {
                    "location": {
                        "x": 2938.3173828125,
                        "y": 4256.90869140625,
                        "z": 360.7942810058594
                    },
                    "rotation": {
                        "roll": 1.1539627848833334e-05,
                        "pitch": -0.4426850378513336,
                        "yaw": -170.81036376953125
                    }
                },
                "velocity": {
                    "x": -11.55036735534668,
                    "y": -1.8685837984085083,
                    "z": -0.0848291888833046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.581532955169678,
                "transform": {
                    "location": {
                        "x": 2959.948486328125,
                        "y": 4257.11572265625,
                        "z": 360.9438171386719
                    },
                    "rotation": {
                        "roll": 0.0006111477268859744,
                        "pitch": -0.5275569558143616,
                        "yaw": -170.8175811767578
                    }
                },
                "velocity": {
                    "x": -6.496677875518799,
                    "y": -1.0521210432052612,
                    "z": -0.0528457872569561
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.02823543548584,
                "transform": {
                    "location": {
                        "x": 2912.14306640625,
                        "y": 4252.67138671875,
                        "z": 360.60369873046875
                    },
                    "rotation": {
                        "roll": 0.00220184912905097,
                        "pitch": -0.4475686252117157,
                        "yaw": -170.8041229248047
                    }
                },
                "velocity": {
                    "x": -11.873614311218262,
                    "y": -1.9205551147460938,
                    "z": -0.08485551923513412
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.25341796875,
                        "y": 4250.42041015625,
                        "z": 360.3612060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2876.733642578125,
                        "y": 4253.62841796875,
                        "z": 360.3612060546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3889041244983673,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006566752563230693,
                "transform": {
                    "location": {
                        "x": 2896.42919921875,
                        "y": 4246.92333984375,
                        "z": 360.51983642578125
                    },
                    "rotation": {
                        "roll": -0.0016479495679959655,
                        "pitch": -0.445553719997406,
                        "yaw": -170.4471435546875
                    }
                },
                "velocity": {
                    "x": 0.00045831757597625256,
                    "y": -9.673286695033312e-05,
                    "z": 0.00046022835886105895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.502382755279541,
                "transform": {
                    "location": {
                        "x": 2984.341552734375,
                        "y": 4264.41552734375,
                        "z": 361.15960693359375
                    },
                    "rotation": {
                        "roll": -0.002532957587391138,
                        "pitch": -0.5689342617988586,
                        "yaw": -170.21690368652344
                    }
                },
                "velocity": {
                    "x": -5.425106525421143,
                    "y": -0.9183698296546936,
                    "z": -0.03212738409638405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.059396743774414,
                "transform": {
                    "location": {
                        "x": 2963.17578125,
                        "y": 4260.93115234375,
                        "z": 360.9842834472656
                    },
                    "rotation": {
                        "roll": -0.0003967256925534457,
                        "pitch": -0.48926007747650146,
                        "yaw": -170.80384826660156
                    }
                },
                "velocity": {
                    "x": -11.904131889343262,
                    "y": -1.9263232946395874,
                    "z": -0.09981048107147217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3366089463233948,
        "expert_target_speed": 10.0,
        "target_point": [
            57.549963005158155,
            0.5516002926356673
        ],
        "target_point_next": [
            99.54966594479481,
            0.7081830707161778
        ]
    },
    "325": {
        "acceleration": [
            0.9202808141708374,
            0.12360161542892456,
            0.001953889150172472
        ],
        "angular_velocity": [
            -0.05574073642492294,
            0.2973582148551941,
            -0.6756420731544495
        ],
        "forward_vector": [
            -0.9877004027366638,
            -0.15607693791389465,
            -0.009371500462293625
        ],
        "right_vector": [
            0.15608404576778412,
            -0.9877437353134155,
            -2.6969644750352018e-05
        ],
        "location": [
            2947.006591796875,
            4255.46435546875,
            360.8484191894531
        ],
        "rotation": [
            0.0015453146770596504,
            -0.5369552969932556,
            -171.0203399658203
        ],
        "velocity": [
            0.0023381682112812996,
            -0.00010985505650751293,
            0.0012605476658791304
        ],
        "speed": 0.0023407474698665513,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.958436012268066,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982600212097168,
                "transform": {
                    "location": {
                        "x": 2918.5302734375,
                        "y": 4260.4921875,
                        "z": 360.6564025878906
                    },
                    "rotation": {
                        "roll": -0.0003662114904727787,
                        "pitch": 0.4087594747543335,
                        "yaw": 9.217435836791992
                    }
                },
                "velocity": {
                    "x": 7.879334449768066,
                    "y": 1.2785812616348267,
                    "z": 0.05677555873990059
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00355339050293,
                "transform": {
                    "location": {
                        "x": 2918.982177734375,
                        "y": 4257.2734375,
                        "z": 360.6864013671875
                    },
                    "rotation": {
                        "roll": 0.00116024783346802,
                        "pitch": 0.40894389152526855,
                        "yaw": 9.21642780303955
                    }
                },
                "velocity": {
                    "x": 7.90004825592041,
                    "y": 1.2817513942718506,
                    "z": 0.05665271729230881
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996293544769287,
                "transform": {
                    "location": {
                        "x": 2959.2900390625,
                        "y": 4267.0888671875,
                        "z": 360.9656982421875
                    },
                    "rotation": {
                        "roll": 0.0009366607409901917,
                        "pitch": 0.4666999578475952,
                        "yaw": 9.187923431396484
                    }
                },
                "velocity": {
                    "x": 7.893441200256348,
                    "y": 1.2767654657363892,
                    "z": 0.06450265645980835
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056146621704102,
                "transform": {
                    "location": {
                        "x": 2959.792724609375,
                        "y": 4263.8779296875,
                        "z": 360.9654846191406
                    },
                    "rotation": {
                        "roll": 0.000966523599345237,
                        "pitch": 0.46501290798187256,
                        "yaw": 9.193228721618652
                    }
                },
                "velocity": {
                    "x": 7.952391147613525,
                    "y": 1.2871290445327759,
                    "z": 0.06533794105052948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.641572952270508,
                "transform": {
                    "location": {
                        "x": 2977.115234375,
                        "y": 4259.892578125,
                        "z": 361.10382080078125
                    },
                    "rotation": {
                        "roll": 0.0013667442835867405,
                        "pitch": -0.24795635044574738,
                        "yaw": -170.83633422851562
                    }
                },
                "velocity": {
                    "x": -8.530701637268066,
                    "y": -1.3776925802230835,
                    "z": -0.0766495019197464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054359436035156,
                "transform": {
                    "location": {
                        "x": 3000.795654296875,
                        "y": 4273.8056640625,
                        "z": 361.33984375
                    },
                    "rotation": {
                        "roll": -9.155775478575379e-05,
                        "pitch": 0.5271949768066406,
                        "yaw": 9.198126792907715
                    }
                },
                "velocity": {
                    "x": 7.950462341308594,
                    "y": 1.2873893976211548,
                    "z": 0.07410705089569092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068843841552734,
                "transform": {
                    "location": {
                        "x": 3001.447509765625,
                        "y": 4270.6201171875,
                        "z": 361.3264465332031
                    },
                    "rotation": {
                        "roll": -0.0001220715494127944,
                        "pitch": 0.5322014689445496,
                        "yaw": 9.17673397064209
                    }
                },
                "velocity": {
                    "x": 7.9652557373046875,
                    "y": 1.2866309881210327,
                    "z": 0.07438816130161285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.415542602539062,
                "transform": {
                    "location": {
                        "x": 2935.33544921875,
                        "y": 4256.42626953125,
                        "z": 360.7726135253906
                    },
                    "rotation": {
                        "roll": 0.0010071861324831843,
                        "pitch": -0.4893488883972168,
                        "yaw": -170.80709838867188
                    }
                },
                "velocity": {
                    "x": -12.255403518676758,
                    "y": -1.985564947128296,
                    "z": -0.0911392942070961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9691803455352783,
                "transform": {
                    "location": {
                        "x": 2958.93798828125,
                        "y": 4256.953125,
                        "z": 360.9375
                    },
                    "rotation": {
                        "roll": -0.0001831108093028888,
                        "pitch": -0.7663813233375549,
                        "yaw": -170.75979614257812
                    }
                },
                "velocity": {
                    "x": -0.9569678902626038,
                    "y": -0.15313276648521423,
                    "z": -0.008562945760786533
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.563323020935059,
                "transform": {
                    "location": {
                        "x": 2909.36083984375,
                        "y": 4252.2216796875,
                        "z": 360.5863952636719
                    },
                    "rotation": {
                        "roll": 0.0017233313992619514,
                        "pitch": -0.7545787692070007,
                        "yaw": -170.82614135742188
                    }
                },
                "velocity": {
                    "x": -10.427739143371582,
                    "y": -1.6853890419006348,
                    "z": -0.0742330402135849
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.777502059936523,
                "transform": {
                    "location": {
                        "x": 2878.9580078125,
                        "y": 4250.70458984375,
                        "z": 360.36529541015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.33644142746925354,
                        "yaw": 9.499608039855957
                    }
                },
                "velocity": {
                    "x": 6.678251266479492,
                    "y": 1.155410885810852,
                    "z": 0.022785043343901634
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6209259033203125,
                "transform": {
                    "location": {
                        "x": 2878.510498046875,
                        "y": 4253.92041015625,
                        "z": 360.3722229003906
                    },
                    "rotation": {
                        "roll": -0.01934814453125,
                        "pitch": 0.22010967135429382,
                        "yaw": 9.413230895996094
                    }
                },
                "velocity": {
                    "x": 6.528146266937256,
                    "y": 1.1037473678588867,
                    "z": 0.04131268337368965
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028171067242510617,
                "transform": {
                    "location": {
                        "x": 2896.42919921875,
                        "y": 4246.92333984375,
                        "z": 360.51953125
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.4089370667934418,
                        "yaw": -170.44717407226562
                    }
                },
                "velocity": {
                    "x": 6.33450981695205e-05,
                    "y": 0.00026489607989788055,
                    "z": -7.196088699856773e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.9582319259643555,
                "transform": {
                    "location": {
                        "x": 2982.92578125,
                        "y": 4264.1748046875,
                        "z": 361.1480712890625
                    },
                    "rotation": {
                        "roll": -0.004028323572129011,
                        "pitch": -0.5046621561050415,
                        "yaw": -170.38356018066406
                    }
                },
                "velocity": {
                    "x": -5.874855041503906,
                    "y": -0.991974413394928,
                    "z": -0.05087839066982269
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.278514862060547,
                "transform": {
                    "location": {
                        "x": 2960.19482421875,
                        "y": 4260.44921875,
                        "z": 360.9595642089844
                    },
                    "rotation": {
                        "roll": -0.0002136266848538071,
                        "pitch": -0.4478759765625,
                        "yaw": -170.81149291992188
                    }
                },
                "velocity": {
                    "x": -12.120410919189453,
                    "y": -1.9615143537521362,
                    "z": -0.10021255910396576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3376762568950653,
        "expert_target_speed": 10.0,
        "target_point": [
            57.54524399349856,
            0.5497680859894096
        ],
        "target_point_next": [
            99.54495124761299,
            0.7051892969084683
        ]
    },
    "330": {
        "acceleration": [
            -0.18262088298797607,
            -0.05083542317152023,
            0.00780181959271431
        ],
        "angular_velocity": [
            -0.07066231966018677,
            0.36548689007759094,
            0.35239335894584656
        ],
        "forward_vector": [
            -0.9877067804336548,
            -0.15614964067935944,
            -0.00725215207785368
        ],
        "right_vector": [
            0.15615427494049072,
            -0.9877327084541321,
            -7.402610935969278e-05
        ],
        "location": [
            2946.978759765625,
            4255.46044921875,
            360.84783935546875
        ],
        "rotation": [
            0.004241494927555323,
            -0.4155213534832001,
            -171.0162811279297
        ],
        "velocity": [
            -0.22164082527160645,
            -0.03280893340706825,
            -0.0016056918539106846
        ],
        "speed": 0.22405597858211287,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.93049430847168,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.071452140808105,
                "transform": {
                    "location": {
                        "x": 2920.512939453125,
                        "y": 4260.8134765625,
                        "z": 360.6707458496094
                    },
                    "rotation": {
                        "roll": 0.0012367988238111138,
                        "pitch": 0.4062937796115875,
                        "yaw": 9.21722412109375
                    }
                },
                "velocity": {
                    "x": 7.967037200927734,
                    "y": 1.2928478717803955,
                    "z": 0.05661589652299881
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.073071479797363,
                "transform": {
                    "location": {
                        "x": 2920.973876953125,
                        "y": 4257.59619140625,
                        "z": 360.70074462890625
                    },
                    "rotation": {
                        "roll": 0.0009408441255800426,
                        "pitch": 0.4229047894477844,
                        "yaw": 9.208417892456055
                    }
                },
                "velocity": {
                    "x": 7.96884822845459,
                    "y": 1.2917770147323608,
                    "z": 0.05705970525741577
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056037902832031,
                "transform": {
                    "location": {
                        "x": 2961.270751953125,
                        "y": 4267.4091796875,
                        "z": 360.9820861816406
                    },
                    "rotation": {
                        "roll": -6.103682972025126e-05,
                        "pitch": 0.46592816710472107,
                        "yaw": 9.187780380249023
                    }
                },
                "velocity": {
                    "x": 7.952420711517334,
                    "y": 1.2862586975097656,
                    "z": 0.06552671641111374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995487213134766,
                "transform": {
                    "location": {
                        "x": 2961.77294921875,
                        "y": 4264.19873046875,
                        "z": 360.98193359375
                    },
                    "rotation": {
                        "roll": -0.00012206699466332793,
                        "pitch": 0.4668365716934204,
                        "yaw": 9.193347930908203
                    }
                },
                "velocity": {
                    "x": 7.892524242401123,
                    "y": 1.2773489952087402,
                    "z": 0.06522706896066666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.281518936157227,
                "transform": {
                    "location": {
                        "x": 2974.86083984375,
                        "y": 4259.52880859375,
                        "z": 361.08416748046875
                    },
                    "rotation": {
                        "roll": 0.00033678338513709605,
                        "pitch": -0.3029530346393585,
                        "yaw": -170.82420349121094
                    }
                },
                "velocity": {
                    "x": -9.162485122680664,
                    "y": -1.4795750379562378,
                    "z": -0.07951683551073074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996127605438232,
                "transform": {
                    "location": {
                        "x": 3002.775634765625,
                        "y": 4274.12646484375,
                        "z": 361.3583984375
                    },
                    "rotation": {
                        "roll": 0.0003849517088383436,
                        "pitch": 0.5312930941581726,
                        "yaw": 9.194849967956543
                    }
                },
                "velocity": {
                    "x": 7.89302921295166,
                    "y": 1.2776693105697632,
                    "z": 0.07552478462457657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.015166282653809,
                "transform": {
                    "location": {
                        "x": 3003.431884765625,
                        "y": 4270.94091796875,
                        "z": 361.34515380859375
                    },
                    "rotation": {
                        "roll": 0.0012074819533154368,
                        "pitch": 0.5353707075119019,
                        "yaw": 9.174201011657715
                    }
                },
                "velocity": {
                    "x": 7.91251277923584,
                    "y": 1.276485562324524,
                    "z": 0.0749453753232956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.86629867553711,
                "transform": {
                    "location": {
                        "x": 2932.34326171875,
                        "y": 4255.94189453125,
                        "z": 360.7494812011719
                    },
                    "rotation": {
                        "roll": 0.00039016001392155886,
                        "pitch": -0.3858646750450134,
                        "yaw": -170.8045196533203
                    }
                },
                "velocity": {
                    "x": -11.713489532470703,
                    "y": -1.8962016105651855,
                    "z": -0.08723144233226776
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.056565761566162,
                "transform": {
                    "location": {
                        "x": 2958.825927734375,
                        "y": 4256.93408203125,
                        "z": 360.9347229003906
                    },
                    "rotation": {
                        "roll": 0.00041373545536771417,
                        "pitch": -0.5459301471710205,
                        "yaw": -170.7853240966797
                    }
                },
                "velocity": {
                    "x": -1.042913556098938,
                    "y": -0.16905711591243744,
                    "z": -0.009065704420208931
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.191104888916016,
                "transform": {
                    "location": {
                        "x": 2906.93212890625,
                        "y": 4251.8291015625,
                        "z": 360.5691223144531
                    },
                    "rotation": {
                        "roll": 0.0010850438848137856,
                        "pitch": -0.7426123023033142,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": -9.073222160339355,
                    "y": -1.465932846069336,
                    "z": -0.06408531963825226
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.676219940185547,
                "transform": {
                    "location": {
                        "x": 2880.614990234375,
                        "y": 4250.99072265625,
                        "z": 360.37353515625
                    },
                    "rotation": {
                        "roll": 0.0007380665047094226,
                        "pitch": 0.3760155439376831,
                        "yaw": 9.781723022460938
                    }
                },
                "velocity": {
                    "x": 6.576782703399658,
                    "y": 1.1472644805908203,
                    "z": 0.04036872833967209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.813217639923096,
                "transform": {
                    "location": {
                        "x": 2880.16748046875,
                        "y": 4254.20556640625,
                        "z": 360.3833923339844
                    },
                    "rotation": {
                        "roll": -0.01196288876235485,
                        "pitch": 0.34991055727005005,
                        "yaw": 9.747113227844238
                    }
                },
                "velocity": {
                    "x": 6.712861061096191,
                    "y": 1.1642086505889893,
                    "z": 0.04524789750576019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.321781933773309e-06,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.002380374586209655,
                        "pitch": -0.3967861533164978,
                        "yaw": -170.44717407226562
                    }
                },
                "velocity": {
                    "x": -8.045807589951437e-06,
                    "y": -1.0072998293253477e-06,
                    "z": -1.8714647467277246e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049718856811523,
                "transform": {
                    "location": {
                        "x": 2981.209716796875,
                        "y": 4263.884765625,
                        "z": 361.1318359375
                    },
                    "rotation": {
                        "roll": -0.002960207872092724,
                        "pitch": -0.40737977623939514,
                        "yaw": -170.42507934570312
                    }
                },
                "velocity": {
                    "x": -7.9372100830078125,
                    "y": -1.3391321897506714,
                    "z": -0.07343556731939316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.11709976196289,
                "transform": {
                    "location": {
                        "x": 2957.169189453125,
                        "y": 4259.95947265625,
                        "z": 360.93487548828125
                    },
                    "rotation": {
                        "roll": -3.052010652027093e-05,
                        "pitch": -0.4719250500202179,
                        "yaw": -170.8028106689453
                    }
                },
                "velocity": {
                    "x": -11.961151123046875,
                    "y": -1.9352854490280151,
                    "z": -0.09819350391626358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3426911532878876,
        "expert_target_speed": 10.0,
        "target_point": [
            57.51718232398216,
            0.5461673151714166
        ],
        "target_point_next": [
            99.51690051457162,
            0.6986044995638991
        ]
    },
    "335": {
        "acceleration": [
            -1.623687744140625,
            -0.2581704258918762,
            0.009867092594504356
        ],
        "angular_velocity": [
            -0.02467207983136177,
            0.46486690640449524,
            -0.43177923560142517
        ],
        "forward_vector": [
            -0.9877551198005676,
            -0.15587826073169708,
            -0.006460263393819332
        ],
        "right_vector": [
            0.1558821201324463,
            -0.9877756237983704,
            -9.588174725649878e-05
        ],
        "location": [
            2946.893310546875,
            4255.4482421875,
            360.8468933105469
        ],
        "rotation": [
            0.005493734031915665,
            -0.3701484203338623,
            -171.03207397460938
        ],
        "velocity": [
            -0.4624950587749481,
            -0.0662502869963646,
            -0.0024860287085175514
        ],
        "speed": 0.46721598850889445,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.84466552734375,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.991002082824707,
                "transform": {
                    "location": {
                        "x": 2922.49462890625,
                        "y": 4261.134765625,
                        "z": 360.6851806640625
                    },
                    "rotation": {
                        "roll": 0.00010737479169620201,
                        "pitch": 0.4106719195842743,
                        "yaw": 9.207308769226074
                    }
                },
                "velocity": {
                    "x": 7.887856960296631,
                    "y": 1.2785143852233887,
                    "z": 0.05679817125201225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993083477020264,
                "transform": {
                    "location": {
                        "x": 2922.954345703125,
                        "y": 4257.91748046875,
                        "z": 360.7152404785156
                    },
                    "rotation": {
                        "roll": 0.0007602412370033562,
                        "pitch": 0.4071202278137207,
                        "yaw": 9.207286834716797
                    }
                },
                "velocity": {
                    "x": 7.889902591705322,
                    "y": 1.2789154052734375,
                    "z": 0.05651925876736641
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995493412017822,
                "transform": {
                    "location": {
                        "x": 2963.251220703125,
                        "y": 4267.72998046875,
                        "z": 360.9986572265625
                    },
                    "rotation": {
                        "roll": -9.155700536211953e-05,
                        "pitch": 0.4736599326133728,
                        "yaw": 9.191380500793457
                    }
                },
                "velocity": {
                    "x": 7.892524719238281,
                    "y": 1.2772573232650757,
                    "z": 0.0676840990781784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054962158203125,
                "transform": {
                    "location": {
                        "x": 2963.753662109375,
                        "y": 4264.51953125,
                        "z": 360.99847412109375
                    },
                    "rotation": {
                        "roll": 0.00028995604952797294,
                        "pitch": 0.47265589237213135,
                        "yaw": 9.190469741821289
                    }
                },
                "velocity": {
                    "x": 7.951295375823975,
                    "y": 1.2863267660140991,
                    "z": 0.0683317556977272
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.243116855621338,
                "transform": {
                    "location": {
                        "x": 2972.708984375,
                        "y": 4259.1806640625,
                        "z": 361.0691833496094
                    },
                    "rotation": {
                        "roll": -0.0007018987089395523,
                        "pitch": -0.770534098148346,
                        "yaw": -170.8201904296875
                    }
                },
                "velocity": {
                    "x": -7.150111675262451,
                    "y": -1.1552679538726807,
                    "z": -0.0632452517747879
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054329872131348,
                "transform": {
                    "location": {
                        "x": 3004.756591796875,
                        "y": 4274.447265625,
                        "z": 361.37713623046875
                    },
                    "rotation": {
                        "roll": -0.0008544905576854944,
                        "pitch": 0.5302002429962158,
                        "yaw": 9.191598892211914
                    }
                },
                "velocity": {
                    "x": 7.950559139251709,
                    "y": 1.2865055799484253,
                    "z": 0.07580797374248505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068670272827148,
                "transform": {
                    "location": {
                        "x": 3005.416748046875,
                        "y": 4271.26220703125,
                        "z": 361.3638610839844
                    },
                    "rotation": {
                        "roll": 0.0007892847643233836,
                        "pitch": 0.5352818965911865,
                        "yaw": 9.1722993850708
                    }
                },
                "velocity": {
                    "x": 7.965146541595459,
                    "y": 1.2861175537109375,
                    "z": 0.07610850781202316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.75818920135498,
                "transform": {
                    "location": {
                        "x": 2929.400634765625,
                        "y": 4255.46533203125,
                        "z": 360.7278747558594
                    },
                    "rotation": {
                        "roll": -9.155616135103628e-05,
                        "pitch": -0.40472283959388733,
                        "yaw": -170.8093719482422
                    }
                },
                "velocity": {
                    "x": -11.606913566589355,
                    "y": -1.8780356645584106,
                    "z": -0.08678256720304489
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.193739652633667,
                "transform": {
                    "location": {
                        "x": 2958.55859375,
                        "y": 4256.8916015625,
                        "z": 360.93218994140625
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": -0.4652041494846344,
                        "yaw": -170.70762634277344
                    }
                },
                "velocity": {
                    "x": -1.179487705230713,
                    "y": -0.18362504243850708,
                    "z": -0.010249805636703968
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.831139087677002,
                "transform": {
                    "location": {
                        "x": 2904.8662109375,
                        "y": 4251.494140625,
                        "z": 360.5549011230469
                    },
                    "rotation": {
                        "roll": -0.0012512290850281715,
                        "pitch": -0.7843242287635803,
                        "yaw": -170.9525146484375
                    }
                },
                "velocity": {
                    "x": -6.743522644042969,
                    "y": -1.0895549058914185,
                    "z": -0.047239750623703
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.6880316734313965,
                "transform": {
                    "location": {
                        "x": 2882.184326171875,
                        "y": 4251.26123046875,
                        "z": 360.38421630859375
                    },
                    "rotation": {
                        "roll": 0.008351925760507584,
                        "pitch": 0.3300415575504303,
                        "yaw": 9.799400329589844
                    }
                },
                "velocity": {
                    "x": 5.6084794998168945,
                    "y": 0.9472618103027344,
                    "z": 0.03686498478055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.032748699188232,
                "transform": {
                    "location": {
                        "x": 2881.785888671875,
                        "y": 4254.486328125,
                        "z": 360.394287109375
                    },
                    "rotation": {
                        "roll": 0.006478672847151756,
                        "pitch": 0.2973317801952362,
                        "yaw": 9.805070877075195
                    }
                },
                "velocity": {
                    "x": 5.945956707000732,
                    "y": 1.0188229084014893,
                    "z": 0.04069776460528374
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012545088247861713,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.0020446761045604944,
                        "pitch": -0.39428630471229553,
                        "yaw": -170.4471893310547
                    }
                },
                "velocity": {
                    "x": 5.82218171985005e-06,
                    "y": -3.52547867805697e-05,
                    "z": 0.00012025441537844017
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.464676856994629,
                "transform": {
                    "location": {
                        "x": 2979.037109375,
                        "y": 4263.52099609375,
                        "z": 361.1121826171875
                    },
                    "rotation": {
                        "roll": 0.0038771554827690125,
                        "pitch": -0.4110407531261444,
                        "yaw": -170.52752685546875
                    }
                },
                "velocity": {
                    "x": -9.33758544921875,
                    "y": -1.5435564517974854,
                    "z": -0.08397343754768372
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.41046142578125
                    },
                    "rotation": {
                        "roll": -3.3351321704344628e-09,
                        "pitch": -0.39417019486427307,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.139869689941406,
                "transform": {
                    "location": {
                        "x": 2954.16455078125,
                        "y": 4259.4736328125,
                        "z": 360.9107360839844
                    },
                    "rotation": {
                        "roll": 0.0003769262693822384,
                        "pitch": -0.45559409260749817,
                        "yaw": -170.8187255859375
                    }
                },
                "velocity": {
                    "x": -11.983687400817871,
                    "y": -1.9386659860610962,
                    "z": -0.09618943929672241
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34143730998039246,
        "expert_target_speed": 10.0,
        "target_point": [
            57.4307220917666,
            0.5632818644303939
        ],
        "target_point_next": [
            99.43039667366867,
            0.7272946640691345
        ]
    },
    "340": {
        "acceleration": [
            0.03883838653564453,
            0.04684627056121826,
            -0.005928804166615009
        ],
        "angular_velocity": [
            0.0041735521517694,
            -0.18424485623836517,
            -0.18129508197307587
        ],
        "forward_vector": [
            -0.9878766536712646,
            -0.15510720014572144,
            -0.006440475583076477
        ],
        "right_vector": [
            0.1551109254360199,
            -0.9878970980644226,
            -7.96556705608964e-05
        ],
        "location": [
            2946.76708984375,
            4255.4296875,
            360.8459777832031
        ],
        "rotation": [
            0.004564028233289719,
            -0.3690146207809448,
            -171.07679748535156
        ],
        "velocity": [
            -0.5462620258331299,
            -0.07783262431621552,
            -0.003151864977553487
        ],
        "speed": 0.551779048419985,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.717768669128418,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05516242980957,
                "transform": {
                    "location": {
                        "x": 2924.474365234375,
                        "y": 4261.4560546875,
                        "z": 360.69964599609375
                    },
                    "rotation": {
                        "roll": -0.0003662082308437675,
                        "pitch": 0.410419225692749,
                        "yaw": 9.197591781616211
                    }
                },
                "velocity": {
                    "x": 7.95143985748291,
                    "y": 1.2872200012207031,
                    "z": 0.0574958398938179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.021799087524414,
                "transform": {
                    "location": {
                        "x": 2924.927978515625,
                        "y": 4258.2373046875,
                        "z": 360.7296142578125
                    },
                    "rotation": {
                        "roll": -0.001190182170830667,
                        "pitch": 0.41858813166618347,
                        "yaw": 9.201813697814941
                    }
                },
                "velocity": {
                    "x": 7.918374061584473,
                    "y": 1.282735824584961,
                    "z": 0.05653972551226616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055461883544922,
                "transform": {
                    "location": {
                        "x": 2965.232177734375,
                        "y": 4268.05029296875,
                        "z": 361.0154724121094
                    },
                    "rotation": {
                        "roll": -0.00030517810955643654,
                        "pitch": 0.4806130528450012,
                        "yaw": 9.191731452941895
                    }
                },
                "velocity": {
                    "x": 7.951740741729736,
                    "y": 1.2867109775543213,
                    "z": 0.0682106539607048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996483325958252,
                "transform": {
                    "location": {
                        "x": 2965.734375,
                        "y": 4264.83935546875,
                        "z": 361.0152893066406
                    },
                    "rotation": {
                        "roll": -0.00018310753512196243,
                        "pitch": 0.48077017068862915,
                        "yaw": 9.184797286987305
                    }
                },
                "velocity": {
                    "x": 7.893937587738037,
                    "y": 1.2747509479522705,
                    "z": 0.06713046878576279
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7021603584289551,
                "transform": {
                    "location": {
                        "x": 2971.77734375,
                        "y": 4259.0302734375,
                        "z": 361.0703125
                    },
                    "rotation": {
                        "roll": 0.00012220103235449642,
                        "pitch": -1.9586795568466187,
                        "yaw": -170.81906127929688
                    }
                },
                "velocity": {
                    "x": -0.6931203603744507,
                    "y": -0.11207315325737,
                    "z": -0.007279357872903347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994832515716553,
                "transform": {
                    "location": {
                        "x": 3006.736572265625,
                        "y": 4274.767578125,
                        "z": 361.3958435058594
                    },
                    "rotation": {
                        "roll": -6.104075873736292e-05,
                        "pitch": 0.5308149456977844,
                        "yaw": 9.188106536865234
                    }
                },
                "velocity": {
                    "x": 7.891908168792725,
                    "y": 1.276479959487915,
                    "z": 0.0757019966840744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016026496887207,
                "transform": {
                    "location": {
                        "x": 3007.401611328125,
                        "y": 4271.58349609375,
                        "z": 361.3825988769531
                    },
                    "rotation": {
                        "roll": -3.05204011965543e-05,
                        "pitch": 0.5348242521286011,
                        "yaw": 9.172369956970215
                    }
                },
                "velocity": {
                    "x": 7.913182735443115,
                    "y": 1.2777090072631836,
                    "z": 0.07532182335853577
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.360084533691406,
                "transform": {
                    "location": {
                        "x": 2926.67138671875,
                        "y": 4255.02392578125,
                        "z": 360.7069091796875
                    },
                    "rotation": {
                        "roll": -0.0005493156495504081,
                        "pitch": -0.2972702980041504,
                        "yaw": -170.80191040039062
                    }
                },
                "velocity": {
                    "x": -10.226588249206543,
                    "y": -1.6560560464859009,
                    "z": -0.0756516084074974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0711562633514404,
                "transform": {
                    "location": {
                        "x": 2958.11962890625,
                        "y": 4256.81787109375,
                        "z": 360.9285888671875
                    },
                    "rotation": {
                        "roll": 0.001035642926581204,
                        "pitch": -0.47432929277420044,
                        "yaw": -171.08462524414062
                    }
                },
                "velocity": {
                    "x": -1.0539754629135132,
                    "y": -0.1904832273721695,
                    "z": -0.015088061802089214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3564450144767761,
                "transform": {
                    "location": {
                        "x": 2904.021484375,
                        "y": 4251.34912109375,
                        "z": 360.5569763183594
                    },
                    "rotation": {
                        "roll": 0.02156074158847332,
                        "pitch": -1.7911964654922485,
                        "yaw": -171.52369689941406
                    }
                },
                "velocity": {
                    "x": -0.3490779399871826,
                    "y": -0.07196485996246338,
                    "z": -0.004324989393353462
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.656894207000732,
                "transform": {
                    "location": {
                        "x": 2883.552001953125,
                        "y": 4251.4931640625,
                        "z": 360.3932800292969
                    },
                    "rotation": {
                        "roll": 0.004919044207781553,
                        "pitch": 0.36688360571861267,
                        "yaw": 9.650773048400879
                    }
                },
                "velocity": {
                    "x": 5.578434467315674,
                    "y": 0.9381102323532104,
                    "z": 0.038365334272384644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.683198928833008,
                "transform": {
                    "location": {
                        "x": 2883.1953125,
                        "y": 4254.7255859375,
                        "z": 360.4040832519531
                    },
                    "rotation": {
                        "roll": 0.0073107825592160225,
                        "pitch": 0.3201241195201874,
                        "yaw": 9.662298202514648
                    }
                },
                "velocity": {
                    "x": 5.603212833404541,
                    "y": 0.9493944048881531,
                    "z": 0.037539269775152206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.887858323054388e-05,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.0020446761045604944,
                        "pitch": -0.39428630471229553,
                        "yaw": -170.4471893310547
                    }
                },
                "velocity": {
                    "x": 8.350610301022243e-07,
                    "y": -2.1809171812492423e-05,
                    "z": -9.643981320550665e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.68149185180664,
                "transform": {
                    "location": {
                        "x": 2976.546875,
                        "y": 4263.109375,
                        "z": 361.08978271484375
                    },
                    "rotation": {
                        "roll": 0.0007325139013119042,
                        "pitch": -0.4177889823913574,
                        "yaw": -170.6372528076172
                    }
                },
                "velocity": {
                    "x": -10.539302825927734,
                    "y": -1.7344633340835571,
                    "z": -0.09487369656562805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.18225513398647308,
                "transform": {
                    "location": {
                        "x": 2877.778076171875,
                        "y": 4243.9208984375,
                        "z": 360.396484375
                    },
                    "rotation": {
                        "roll": 0.00042860786197707057,
                        "pitch": -0.3951127529144287,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": 0.0011997079709544778,
                    "y": 0.0002258180029457435,
                    "z": -0.18225105106830597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.838134765625,
                "transform": {
                    "location": {
                        "x": 2951.234375,
                        "y": 4258.99951171875,
                        "z": 360.8875427246094
                    },
                    "rotation": {
                        "roll": 0.0016192042967304587,
                        "pitch": -0.4764671325683594,
                        "yaw": -170.80203247070312
                    }
                },
                "velocity": {
                    "x": -11.685797691345215,
                    "y": -1.8908462524414062,
                    "z": -0.09091450273990631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35314860939979553,
        "expert_target_speed": 10.0,
        "target_point": [
            57.302693520012866,
            0.6093864604073431
        ],
        "target_point_next": [
            99.30222718718602,
            0.8062034416473196
        ]
    },
    "345": {
        "acceleration": [
            0.2389061450958252,
            0.015068650245666504,
            -0.013953209854662418
        ],
        "angular_velocity": [
            -0.02382124960422516,
            -0.13282835483551025,
            -0.5885205268859863
        ],
        "forward_vector": [
            -0.9880470633506775,
            -0.15397290885448456,
            -0.007441332563757896
        ],
        "right_vector": [
            0.15397758781909943,
            -0.9880743622779846,
            -5.740276174037717e-05
        ],
        "location": [
            2946.638671875,
            4255.4111328125,
            360.84527587890625
        ],
        "rotation": [
            0.003289027139544487,
            -0.4263608753681183,
            -171.14251708984375
        ],
        "velocity": [
            -0.48890817165374756,
            -0.07013082504272461,
            -0.0029859542846679688
        ],
        "speed": 0.4939124749699926,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.588756561279297,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9989542961120605,
                "transform": {
                    "location": {
                        "x": 2926.45556640625,
                        "y": 4261.77685546875,
                        "z": 360.71417236328125
                    },
                    "rotation": {
                        "roll": -9.155627049040049e-05,
                        "pitch": 0.41423046588897705,
                        "yaw": 9.193376541137695
                    }
                },
                "velocity": {
                    "x": 7.896034240722656,
                    "y": 1.2777507305145264,
                    "z": 0.057140205055475235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053117752075195,
                "transform": {
                    "location": {
                        "x": 2926.9150390625,
                        "y": 4258.55859375,
                        "z": 360.74420166015625
                    },
                    "rotation": {
                        "roll": -0.0008850067970342934,
                        "pitch": 0.4198380410671234,
                        "yaw": 9.197548866271973
                    }
                },
                "velocity": {
                    "x": 7.949379920959473,
                    "y": 1.2871826887130737,
                    "z": 0.05675589293241501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995579242706299,
                "transform": {
                    "location": {
                        "x": 2967.21240234375,
                        "y": 4268.37158203125,
                        "z": 361.03240966796875
                    },
                    "rotation": {
                        "roll": -0.0003967251686844975,
                        "pitch": 0.4804832935333252,
                        "yaw": 9.195164680480957
                    }
                },
                "velocity": {
                    "x": 7.892553329467773,
                    "y": 1.2776156663894653,
                    "z": 0.06775125116109848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05466365814209,
                "transform": {
                    "location": {
                        "x": 2967.71533203125,
                        "y": 4265.16015625,
                        "z": 361.0322570800781
                    },
                    "rotation": {
                        "roll": 0.0005351614090614021,
                        "pitch": 0.4804423153400421,
                        "yaw": 9.188019752502441
                    }
                },
                "velocity": {
                    "x": 7.951292514801025,
                    "y": 1.2844576835632324,
                    "z": 0.068735770881176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5942120552062988,
                "transform": {
                    "location": {
                        "x": 2971.697021484375,
                        "y": 4259.0166015625,
                        "z": 361.0619201660156
                    },
                    "rotation": {
                        "roll": -0.0005798317724838853,
                        "pitch": -1.0252318382263184,
                        "yaw": -170.8269805908203
                    }
                },
                "velocity": {
                    "x": -0.586396336555481,
                    "y": -0.09601542353630066,
                    "z": -0.002881822409108281
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055800437927246,
                "transform": {
                    "location": {
                        "x": 3008.717041015625,
                        "y": 4275.087890625,
                        "z": 361.4145202636719
                    },
                    "rotation": {
                        "roll": 5.609799700323492e-05,
                        "pitch": 0.5301182866096497,
                        "yaw": 9.188185691833496
                    }
                },
                "velocity": {
                    "x": 7.952083110809326,
                    "y": 1.2862467765808105,
                    "z": 0.07661621272563934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068212509155273,
                "transform": {
                    "location": {
                        "x": 3009.38623046875,
                        "y": 4271.904296875,
                        "z": 361.40130615234375
                    },
                    "rotation": {
                        "roll": -0.0007324230391532183,
                        "pitch": 0.5360400676727295,
                        "yaw": 9.168950080871582
                    }
                },
                "velocity": {
                    "x": 7.964781761169434,
                    "y": 1.2854441404342651,
                    "z": 0.07699756324291229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.933035850524902,
                "transform": {
                    "location": {
                        "x": 2924.310546875,
                        "y": 4254.6416015625,
                        "z": 360.6894836425781
                    },
                    "rotation": {
                        "roll": 0.001096461433917284,
                        "pitch": -0.2763631045818329,
                        "yaw": -170.8055419921875
                    }
                },
                "velocity": {
                    "x": -8.818024635314941,
                    "y": -1.4274053573608398,
                    "z": -0.06387583911418915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0547831058502197,
                "transform": {
                    "location": {
                        "x": 2957.6171875,
                        "y": 4256.736328125,
                        "z": 360.9238586425781
                    },
                    "rotation": {
                        "roll": 0.0012127490481361747,
                        "pitch": -0.382538378238678,
                        "yaw": -171.01148986816406
                    }
                },
                "velocity": {
                    "x": -3.016348123550415,
                    "y": -0.48248109221458435,
                    "z": -0.023585939779877663
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3829,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6670379042625427,
                "transform": {
                    "location": {
                        "x": 2903.9384765625,
                        "y": 4251.3359375,
                        "z": 360.54833984375
                    },
                    "rotation": {
                        "roll": 0.020554734393954277,
                        "pitch": -0.8312612771987915,
                        "yaw": -171.5074005126953
                    }
                },
                "velocity": {
                    "x": -0.6588647961616516,
                    "y": -0.10407472401857376,
                    "z": -0.002282705157995224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.58311128616333,
                "transform": {
                    "location": {
                        "x": 2885.025634765625,
                        "y": 4251.74169921875,
                        "z": 360.4029846191406
                    },
                    "rotation": {
                        "roll": 0.003426343435421586,
                        "pitch": 0.4225359559059143,
                        "yaw": 9.54097843170166
                    }
                },
                "velocity": {
                    "x": 6.492048263549805,
                    "y": 1.090261459350586,
                    "z": 0.04466541111469269
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.549265384674072,
                "transform": {
                    "location": {
                        "x": 2884.65283203125,
                        "y": 4254.9716796875,
                        "z": 360.41424560546875
                    },
                    "rotation": {
                        "roll": 0.005435278173536062,
                        "pitch": 0.4648216664791107,
                        "yaw": 9.603577613830566
                    }
                },
                "velocity": {
                    "x": 6.457810401916504,
                    "y": 1.089741826057434,
                    "z": 0.04495193436741829
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002737812465056777,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0013732871739193797,
                        "pitch": -0.3933095932006836,
                        "yaw": -170.44723510742188
                    }
                },
                "velocity": {
                    "x": 1.505725049355533e-05,
                    "y": -1.6492549548274837e-05,
                    "z": -0.00027286892873235047
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.70773696899414,
                "transform": {
                    "location": {
                        "x": 2973.76220703125,
                        "y": 4262.65234375,
                        "z": 361.0650329589844
                    },
                    "rotation": {
                        "roll": 0.0019447233062237501,
                        "pitch": -0.42629939317703247,
                        "yaw": -170.70657348632812
                    }
                },
                "velocity": {
                    "x": -11.554439544677734,
                    "y": -1.8857194185256958,
                    "z": -0.10051339119672775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.06064015254378319,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3654479980469
                    },
                    "rotation": {
                        "roll": 0.0004658114048652351,
                        "pitch": -0.39748966693878174,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.00039439069223590195,
                    "y": -0.00010234169167233631,
                    "z": -0.06063878536224365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.617574691772461,
                "transform": {
                    "location": {
                        "x": 2948.295654296875,
                        "y": 4258.5234375,
                        "z": 360.8647155761719
                    },
                    "rotation": {
                        "roll": 0.001231217640452087,
                        "pitch": -0.4774165451526642,
                        "yaw": -170.81259155273438
                    }
                },
                "velocity": {
                    "x": -11.46790885925293,
                    "y": -1.8566317558288574,
                    "z": -0.0895678848028183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3614925444126129,
        "expert_target_speed": 10.0,
        "target_point": [
            57.17221381539434,
            0.676513136918512
        ],
        "target_point_next": [
            99.17149427349443,
            0.9214747379260455
        ]
    },
    "350": {
        "acceleration": [
            -1.1016548871994019,
            -0.1894170194864273,
            -0.013920656405389309
        ],
        "angular_velocity": [
            -0.07181652635335922,
            0.13586416840553284,
            -0.7828308939933777
        ],
        "forward_vector": [
            -0.9881414175033569,
            -0.153232142329216,
            -0.009828408248722553
        ],
        "right_vector": [
            0.15323904156684875,
            -0.988189160823822,
            5.0064987590303645e-05
        ],
        "location": [
            2946.584716796875,
            4255.40380859375,
            360.8453674316406
        ],
        "rotation": [
            -0.002868650946766138,
            -0.5631353855133057,
            -171.18528747558594
        ],
        "velocity": [
            -0.056598518043756485,
            -0.009375379420816898,
            0.0005675983265973628
        ],
        "speed": 0.05736976541727973,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.534675598144531,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055002212524414,
                "transform": {
                    "location": {
                        "x": 2928.4365234375,
                        "y": 4262.09765625,
                        "z": 360.7287902832031
                    },
                    "rotation": {
                        "roll": 0.0003958344750571996,
                        "pitch": 0.4145173132419586,
                        "yaw": 9.189308166503906
                    }
                },
                "velocity": {
                    "x": 7.951423645019531,
                    "y": 1.2863280773162842,
                    "z": 0.05727630481123924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.986941814422607,
                "transform": {
                    "location": {
                        "x": 2928.891845703125,
                        "y": 4258.87841796875,
                        "z": 360.7587890625
                    },
                    "rotation": {
                        "roll": -0.0014953571371734142,
                        "pitch": 0.4160268008708954,
                        "yaw": 9.186844825744629
                    }
                },
                "velocity": {
                    "x": 7.884302139282227,
                    "y": 1.2750426530838013,
                    "z": 0.057342108339071274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054579734802246,
                "transform": {
                    "location": {
                        "x": 2969.193359375,
                        "y": 4268.69189453125,
                        "z": 361.0496520996094
                    },
                    "rotation": {
                        "roll": -0.00036621218896470964,
                        "pitch": 0.4890346825122833,
                        "yaw": 9.190313339233398
                    }
                },
                "velocity": {
                    "x": 7.950900077819824,
                    "y": 1.2863775491714478,
                    "z": 0.06836008280515671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995151042938232,
                "transform": {
                    "location": {
                        "x": 2969.6953125,
                        "y": 4265.48046875,
                        "z": 361.0494079589844
                    },
                    "rotation": {
                        "roll": -0.00018310113227926195,
                        "pitch": 0.4906397759914398,
                        "yaw": 9.190653800964355
                    }
                },
                "velocity": {
                    "x": 7.8922295570373535,
                    "y": 1.2769263982772827,
                    "z": 0.06790252774953842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9785549640655518,
                "transform": {
                    "location": {
                        "x": 2971.47216796875,
                        "y": 4258.98095703125,
                        "z": 361.0536193847656
                    },
                    "rotation": {
                        "roll": 0.0007062703371047974,
                        "pitch": -0.2050764113664627,
                        "yaw": -170.80111694335938
                    }
                },
                "velocity": {
                    "x": -0.965956449508667,
                    "y": -0.15633277595043182,
                    "z": -0.007615270558744669
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994279384613037,
                "transform": {
                    "location": {
                        "x": 3010.697509765625,
                        "y": 4275.408203125,
                        "z": 361.4334411621094
                    },
                    "rotation": {
                        "roll": 0.00033245611120946705,
                        "pitch": 0.5381301045417786,
                        "yaw": 9.188055992126465
                    }
                },
                "velocity": {
                    "x": 7.891360759735107,
                    "y": 1.2764310836791992,
                    "z": 0.07518400251865387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.014582633972168,
                "transform": {
                    "location": {
                        "x": 3011.370849609375,
                        "y": 4272.22509765625,
                        "z": 361.42022705078125
                    },
                    "rotation": {
                        "roll": -0.0008544957381673157,
                        "pitch": 0.5435327887535095,
                        "yaw": 9.175490379333496
                    }
                },
                "velocity": {
                    "x": 7.911643028259277,
                    "y": 1.2781037092208862,
                    "z": 0.07672654837369919
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.40278959274292,
                "transform": {
                    "location": {
                        "x": 2922.396240234375,
                        "y": 4254.33154296875,
                        "z": 360.6747131347656
                    },
                    "rotation": {
                        "roll": 0.0009092172840610147,
                        "pitch": -0.17459328472614288,
                        "yaw": -170.8411407470703
                    }
                },
                "velocity": {
                    "x": -6.320428371429443,
                    "y": -1.0226317644119263,
                    "z": -0.04607255756855011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0033786296844482,
                "transform": {
                    "location": {
                        "x": 2957.28466796875,
                        "y": 4256.69091796875,
                        "z": 360.9220886230469
                    },
                    "rotation": {
                        "roll": -0.007995608262717724,
                        "pitch": -0.5428497195243835,
                        "yaw": -170.2935791015625
                    }
                },
                "velocity": {
                    "x": -0.9904273152351379,
                    "y": -0.1604822278022766,
                    "z": -0.008243932388722897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800638556480408,
                "transform": {
                    "location": {
                        "x": 2989.9853515625,
                        "y": 4265.3701171875,
                        "z": 361.57171630859375
                    },
                    "rotation": {
                        "roll": 6.670390018115313e-09,
                        "pitch": -0.5282331705093384,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.005277235526591539,
                    "y": -0.0008539300179108977,
                    "z": -0.9800493121147156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.429360389709473,
                "transform": {
                    "location": {
                        "x": 2886.951416015625,
                        "y": 4252.064453125,
                        "z": 360.4157409667969
                    },
                    "rotation": {
                        "roll": 0.004645642824470997,
                        "pitch": 0.4958716928958893,
                        "yaw": 9.51314640045166
                    }
                },
                "velocity": {
                    "x": 8.315539360046387,
                    "y": 1.3793727159500122,
                    "z": 0.057054564356803894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.33588981628418,
                "transform": {
                    "location": {
                        "x": 2886.552001953125,
                        "y": 4255.2919921875,
                        "z": 360.4275817871094
                    },
                    "rotation": {
                        "roll": 0.009679130278527737,
                        "pitch": 0.6269088983535767,
                        "yaw": 9.543292999267578
                    }
                },
                "velocity": {
                    "x": 8.221795082092285,
                    "y": 1.373311161994934,
                    "z": 0.05616050586104393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006371666095219553,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002502442803233862,
                        "pitch": -0.3929749131202698,
                        "yaw": -170.447265625
                    }
                },
                "velocity": {
                    "x": -3.345467121107504e-05,
                    "y": -1.6537056581000797e-05,
                    "z": 0.0006360728293657303
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.797537803649902,
                "transform": {
                    "location": {
                        "x": 2970.762451171875,
                        "y": 4262.1630859375,
                        "z": 361.0386962890625
                    },
                    "rotation": {
                        "roll": 0.0006744020502083004,
                        "pitch": -0.41378650069236755,
                        "yaw": -170.7468719482422
                    }
                },
                "velocity": {
                    "x": -12.630704879760742,
                    "y": -2.0567402839660645,
                    "z": -0.1099461242556572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.010221810080111027,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3585205078125
                    },
                    "rotation": {
                        "roll": 1.928374513227027e-05,
                        "pitch": -0.39841175079345703,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -1.868754566203279e-06,
                    "y": 0.0002826908603310585,
                    "z": -0.010217900387942791
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.657694816589355,
                "transform": {
                    "location": {
                        "x": 2945.543701171875,
                        "y": 4258.07763671875,
                        "z": 360.8436279296875
                    },
                    "rotation": {
                        "roll": 0.0005682500777766109,
                        "pitch": -0.5589894652366638,
                        "yaw": -170.7917022705078
                    }
                },
                "velocity": {
                    "x": -10.52047348022461,
                    "y": -1.702848196029663,
                    "z": -0.0800347775220871
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35477155447006226,
        "expert_target_speed": 10.0,
        "target_point": [
            57.11725252674181,
            0.7202353229879108
        ],
        "target_point_next": [
            99.11633835599599,
            0.9965588490534039
        ]
    },
    "355": {
        "acceleration": [
            -0.340939462184906,
            -0.006914976984262466,
            -0.00275840749964118
        ],
        "angular_velocity": [
            0.014259443618357182,
            0.27999821305274963,
            -0.13760985434055328
        ],
        "forward_vector": [
            -0.9881876111030579,
            -0.1530180722475052,
            -0.008407493121922016
        ],
        "right_vector": [
            0.15302376449108124,
            -0.9882224798202515,
            -3.3508575143059716e-05
        ],
        "location": [
            2946.5615234375,
            4255.3994140625,
            360.8449401855469
        ],
        "rotation": [
            0.001919967937283218,
            -0.4817195534706116,
            -171.19781494140625
        ],
        "velocity": [
            -0.09904734045267105,
            -0.01247050054371357,
            -0.0018794441130012274
        ],
        "speed": 0.09982929947945186,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.511116027832031,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995604038238525,
                "transform": {
                    "location": {
                        "x": 2930.416748046875,
                        "y": 4262.41748046875,
                        "z": 360.7433776855469
                    },
                    "rotation": {
                        "roll": -0.000335692020598799,
                        "pitch": 0.4175226092338562,
                        "yaw": 9.185606002807617
                    }
                },
                "velocity": {
                    "x": 7.892867088317871,
                    "y": 1.27630615234375,
                    "z": 0.05813154950737953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.056385040283203,
                "transform": {
                    "location": {
                        "x": 2930.872314453125,
                        "y": 4259.1982421875,
                        "z": 360.7733459472656
                    },
                    "rotation": {
                        "roll": 0.00022251416521612555,
                        "pitch": 0.4240317940711975,
                        "yaw": 9.183016777038574
                    }
                },
                "velocity": {
                    "x": 7.952943325042725,
                    "y": 1.28554105758667,
                    "z": 0.058366190642118454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996142387390137,
                "transform": {
                    "location": {
                        "x": 2971.173583984375,
                        "y": 4269.01220703125,
                        "z": 361.0668640136719
                    },
                    "rotation": {
                        "roll": -9.155060251941904e-05,
                        "pitch": 0.49355626106262207,
                        "yaw": 9.18713092803955
                    }
                },
                "velocity": {
                    "x": 7.89328670501709,
                    "y": 1.2765873670578003,
                    "z": 0.06811940670013428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055279731750488,
                "transform": {
                    "location": {
                        "x": 2971.67626953125,
                        "y": 4265.80126953125,
                        "z": 361.0667419433594
                    },
                    "rotation": {
                        "roll": -0.00039672592538408935,
                        "pitch": 0.49288007616996765,
                        "yaw": 9.187260627746582
                    }
                },
                "velocity": {
                    "x": 7.951647758483887,
                    "y": 1.286096453666687,
                    "z": 0.06915218383073807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.934449315071106,
                "transform": {
                    "location": {
                        "x": 2971.241455078125,
                        "y": 4258.943359375,
                        "z": 361.0534973144531
                    },
                    "rotation": {
                        "roll": -0.0006408718763850629,
                        "pitch": -0.4301789402961731,
                        "yaw": -170.8125
                    }
                },
                "velocity": {
                    "x": -0.9223211407661438,
                    "y": -0.14980082213878632,
                    "z": -0.008884553797543049
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055089950561523,
                "transform": {
                    "location": {
                        "x": 3012.677978515625,
                        "y": 4275.72802734375,
                        "z": 361.4524230957031
                    },
                    "rotation": {
                        "roll": 0.00030487077310681343,
                        "pitch": 0.5406777262687683,
                        "yaw": 9.187772750854492
                    }
                },
                "velocity": {
                    "x": 7.950999736785889,
                    "y": 1.2884929180145264,
                    "z": 0.0766090601682663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069548606872559,
                "transform": {
                    "location": {
                        "x": 3013.35595703125,
                        "y": 4272.54638671875,
                        "z": 361.4392395019531
                    },
                    "rotation": {
                        "roll": -0.0002136232069460675,
                        "pitch": 0.5462784767150879,
                        "yaw": 9.178566932678223
                    }
                },
                "velocity": {
                    "x": 7.965616226196289,
                    "y": 1.2886539697647095,
                    "z": 0.07704868167638779
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.036027431488037,
                "transform": {
                    "location": {
                        "x": 2920.89306640625,
                        "y": 4254.0888671875,
                        "z": 360.66510009765625
                    },
                    "rotation": {
                        "roll": 0.00028875714633613825,
                        "pitch": -0.3333132266998291,
                        "yaw": -170.79095458984375
                    }
                },
                "velocity": {
                    "x": -5.95814323425293,
                    "y": -0.9654893279075623,
                    "z": -0.044572409242391586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.195093870162964,
                "transform": {
                    "location": {
                        "x": 2956.90869140625,
                        "y": 4256.62841796875,
                        "z": 360.91839599609375
                    },
                    "rotation": {
                        "roll": -0.004302977584302425,
                        "pitch": -0.4072226881980896,
                        "yaw": -170.4117431640625
                    }
                },
                "velocity": {
                    "x": -2.165679931640625,
                    "y": -0.35770830512046814,
                    "z": -0.01766737923026085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3978184461593628,
                "transform": {
                    "location": {
                        "x": 2989.9853515625,
                        "y": 4265.3701171875,
                        "z": 361.18841552734375
                    },
                    "rotation": {
                        "roll": -6.10341303399764e-05,
                        "pitch": -0.5343871116638184,
                        "yaw": -170.80831909179688
                    }
                },
                "velocity": {
                    "x": 0.0035474698524922132,
                    "y": 0.0005812880117446184,
                    "z": -0.3978022038936615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059964179992676,
                "transform": {
                    "location": {
                        "x": 2888.998779296875,
                        "y": 4252.40380859375,
                        "z": 360.4304504394531
                    },
                    "rotation": {
                        "roll": 0.0034967304673045874,
                        "pitch": 0.3968817889690399,
                        "yaw": 9.384064674377441
                    }
                },
                "velocity": {
                    "x": 7.952778339385986,
                    "y": 1.3089358806610107,
                    "z": 0.054974667727947235
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.015170097351074,
                "transform": {
                    "location": {
                        "x": 2888.57861328125,
                        "y": 4255.6279296875,
                        "z": 360.441162109375
                    },
                    "rotation": {
                        "roll": 0.008547102101147175,
                        "pitch": 0.4135337769985199,
                        "yaw": 9.407125473022461
                    }
                },
                "velocity": {
                    "x": 7.907642841339111,
                    "y": 1.3073370456695557,
                    "z": 0.05486767739057541
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": -0.3929749131202698,
                        "yaw": -170.44729614257812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.848553657531738,
                "transform": {
                    "location": {
                        "x": 2967.691162109375,
                        "y": 4261.66357421875,
                        "z": 361.01287841796875
                    },
                    "rotation": {
                        "roll": 0.001528868917375803,
                        "pitch": -0.5102219581604004,
                        "yaw": -170.77426147460938
                    }
                },
                "velocity": {
                    "x": -11.695075035095215,
                    "y": -1.8982452154159546,
                    "z": -0.10057319700717926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016015155706554651,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3574523925781
                    },
                    "rotation": {
                        "roll": -0.00036621102481149137,
                        "pitch": -0.3984663784503937,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -1.6630143363727257e-05,
                    "y": -1.4690476746181957e-05,
                    "z": -0.0016013619024306536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.177448272705078,
                "transform": {
                    "location": {
                        "x": 2943.09375,
                        "y": 4257.68115234375,
                        "z": 360.8249816894531
                    },
                    "rotation": {
                        "roll": 0.00010983684478560463,
                        "pitch": -0.6413273811340332,
                        "yaw": -170.82171630859375
                    }
                },
                "velocity": {
                    "x": -9.059318542480469,
                    "y": -1.4661712646484375,
                    "z": -0.06821910291910172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35714593529701233,
        "expert_target_speed": 10.0,
        "target_point": [
            57.0935012038775,
            0.7319155852318655
        ],
        "target_point_next": [
            99.0925256848761,
            1.017411344562996
        ]
    },
    "360": {
        "acceleration": [
            -1.5905308723449707,
            -0.13868555426597595,
            -0.006649969145655632
        ],
        "angular_velocity": [
            -0.05574546754360199,
            0.7551575303077698,
            -1.0425304174423218
        ],
        "forward_vector": [
            -0.9883669018745422,
            -0.15195077657699585,
            -0.006473019253462553
        ],
        "right_vector": [
            0.15195560455322266,
            -0.9883872866630554,
            -0.0002597314305603504
        ],
        "location": [
            2946.510986328125,
            4255.39306640625,
            360.8439636230469
        ],
        "rotation": [
            0.014881826005876064,
            -0.37087926268577576,
            -171.25982666015625
        ],
        "velocity": [
            -0.43268823623657227,
            -0.050494033843278885,
            -0.002688779728487134
        ],
        "speed": 0.4356245599495992,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.46058464050293,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05705451965332,
                "transform": {
                    "location": {
                        "x": 2932.39794921875,
                        "y": 4262.73779296875,
                        "z": 360.7580871582031
                    },
                    "rotation": {
                        "roll": 0.00013689088518731296,
                        "pitch": 0.4172494113445282,
                        "yaw": 9.185583114624023
                    }
                },
                "velocity": {
                    "x": 7.9535136222839355,
                    "y": 1.2861058712005615,
                    "z": 0.06068596616387367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.002985954284668,
                "transform": {
                    "location": {
                        "x": 2932.854248046875,
                        "y": 4259.51904296875,
                        "z": 360.78802490234375
                    },
                    "rotation": {
                        "roll": -0.00030517898267135024,
                        "pitch": 0.42186662554740906,
                        "yaw": 9.182394027709961
                    }
                },
                "velocity": {
                    "x": 7.900208473205566,
                    "y": 1.2770696878433228,
                    "z": 0.059876393526792526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054697036743164,
                "transform": {
                    "location": {
                        "x": 2973.154296875,
                        "y": 4269.33251953125,
                        "z": 361.08428955078125
                    },
                    "rotation": {
                        "roll": 2.3356255042017438e-05,
                        "pitch": 0.4966093599796295,
                        "yaw": 9.190425872802734
                    }
                },
                "velocity": {
                    "x": 7.950987339019775,
                    "y": 1.2864277362823486,
                    "z": 0.071029432117939
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994657039642334,
                "transform": {
                    "location": {
                        "x": 2973.656494140625,
                        "y": 4266.12109375,
                        "z": 361.0841369628906
                    },
                    "rotation": {
                        "roll": -3.335178355712287e-09,
                        "pitch": 0.49628835916519165,
                        "yaw": 9.18713092803955
                    }
                },
                "velocity": {
                    "x": 7.891767501831055,
                    "y": 1.2765710353851318,
                    "z": 0.07006707787513733
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.949471116065979,
                "transform": {
                    "location": {
                        "x": 2970.893310546875,
                        "y": 4258.88720703125,
                        "z": 361.04974365234375
                    },
                    "rotation": {
                        "roll": 8.839060319587588e-05,
                        "pitch": -0.35467803478240967,
                        "yaw": -170.7892608642578
                    }
                },
                "velocity": {
                    "x": -1.9242489337921143,
                    "y": -0.3121340870857239,
                    "z": -0.016611909493803978
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3014.6875,
                        "y": 4276.044921875,
                        "z": 361.4714050292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3015.365478515625,
                        "y": 4272.86279296875,
                        "z": 361.4595642089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.407976150512695,
                "transform": {
                    "location": {
                        "x": 2919.349365234375,
                        "y": 4253.8388671875,
                        "z": 360.6546936035156
                    },
                    "rotation": {
                        "roll": 0.0016618742374703288,
                        "pitch": -0.4324602484703064,
                        "yaw": -170.8249053955078
                    }
                },
                "velocity": {
                    "x": -6.325488567352295,
                    "y": -1.0238837003707886,
                    "z": -0.044905442744493484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1753828525543213,
                "transform": {
                    "location": {
                        "x": 2956.510986328125,
                        "y": 4256.5693359375,
                        "z": 360.9153137207031
                    },
                    "rotation": {
                        "roll": -0.007781981956213713,
                        "pitch": -0.42309603095054626,
                        "yaw": -169.96316528320312
                    }
                },
                "velocity": {
                    "x": -2.147620916366577,
                    "y": -0.3459622263908386,
                    "z": -0.01802532561123371
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1272360235452652,
                "transform": {
                    "location": {
                        "x": 2989.9853515625,
                        "y": 4265.3701171875,
                        "z": 361.2052917480469
                    },
                    "rotation": {
                        "roll": 0.00021777173969894648,
                        "pitch": -0.5338134169578552,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -0.0033265971578657627,
                    "y": -0.00015959858137648553,
                    "z": 0.127192422747612
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.88349723815918,
                "transform": {
                    "location": {
                        "x": 2890.94189453125,
                        "y": 4252.7236328125,
                        "z": 360.4440002441406
                    },
                    "rotation": {
                        "roll": 0.0017475537024438381,
                        "pitch": 0.383754163980484,
                        "yaw": 9.343353271484375
                    }
                },
                "velocity": {
                    "x": 7.778710842132568,
                    "y": 1.2799861431121826,
                    "z": 0.05316334590315819
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9648613929748535,
                "transform": {
                    "location": {
                        "x": 2890.532470703125,
                        "y": 4255.94970703125,
                        "z": 360.45465087890625
                    },
                    "rotation": {
                        "roll": 0.0037760487757623196,
                        "pitch": 0.39216893911361694,
                        "yaw": 9.353960037231445
                    }
                },
                "velocity": {
                    "x": 7.8589911460876465,
                    "y": 1.293238639831543,
                    "z": 0.053025443106889725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024733980535529554,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0018005374586209655,
                        "pitch": -0.39287927746772766,
                        "yaw": -170.4473114013672
                    }
                },
                "velocity": {
                    "x": -1.597851451151655e-06,
                    "y": -3.913887121598236e-05,
                    "z": 0.000244218303123489
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.629477500915527,
                "transform": {
                    "location": {
                        "x": 2964.951171875,
                        "y": 4261.21875,
                        "z": 360.9898376464844
                    },
                    "rotation": {
                        "roll": 3.335208997867767e-09,
                        "pitch": -0.5534365177154541,
                        "yaw": -170.7998046875
                    }
                },
                "velocity": {
                    "x": -10.492131233215332,
                    "y": -1.700874924659729,
                    "z": -0.08941464126110077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013339081779122353,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.35736083984375
                    },
                    "rotation": {
                        "roll": 0.0013387359213083982,
                        "pitch": -0.3979814350605011,
                        "yaw": -170.80848693847656
                    }
                },
                "velocity": {
                    "x": 3.153555007884279e-05,
                    "y": -2.9860846552764997e-05,
                    "z": -0.0013332009548321366
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.009176254272461,
                "transform": {
                    "location": {
                        "x": 2941.009521484375,
                        "y": 4257.34375,
                        "z": 360.8094482421875
                    },
                    "rotation": {
                        "roll": -0.0010986269917339087,
                        "pitch": -0.6174900531768799,
                        "yaw": -170.7966766357422
                    }
                },
                "velocity": {
                    "x": -7.906275272369385,
                    "y": -1.278333306312561,
                    "z": -0.059831876307725906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.355265736579895,
        "expert_target_speed": 10.0,
        "target_point": [
            57.041760335985956,
            0.7951468857969584
        ],
        "target_point_next": [
            99.04045102907226,
            1.1261230942804943
        ]
    },
    "365": {
        "acceleration": [
            -2.161417007446289,
            -0.07718294858932495,
            -0.026318738237023354
        ],
        "angular_velocity": [
            0.11820627748966217,
            0.23211532831192017,
            -2.1705007553100586
        ],
        "forward_vector": [
            -0.9891888499259949,
            -0.14656560122966766,
            -0.0048922100104391575
        ],
        "right_vector": [
            0.14657092094421387,
            -0.9891998767852783,
            -0.0007441223715431988
        ],
        "location": [
            2946.3447265625,
            4255.3759765625,
            360.8424987792969
        ],
        "rotation": [
            0.042635586112737656,
            -0.28030410408973694,
            -171.5719451904297
        ],
        "velocity": [
            -0.8707811832427979,
            -0.07650109380483627,
            -0.0064836787059903145
        ],
        "speed": 0.8741351648589956,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.295327186584473,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9961724281311035,
                "transform": {
                    "location": {
                        "x": 2934.378662109375,
                        "y": 4263.05810546875,
                        "z": 360.7728576660156
                    },
                    "rotation": {
                        "roll": 0.0005582293961197138,
                        "pitch": 0.4186495840549469,
                        "yaw": 9.185065269470215
                    }
                },
                "velocity": {
                    "x": 7.893421649932861,
                    "y": 1.2763506174087524,
                    "z": 0.05994754657149315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.040053367614746,
                "transform": {
                    "location": {
                        "x": 2934.8330078125,
                        "y": 4259.8388671875,
                        "z": 360.80279541015625
                    },
                    "rotation": {
                        "roll": -0.0003356956294737756,
                        "pitch": 0.42415472865104675,
                        "yaw": 9.188653945922852
                    }
                },
                "velocity": {
                    "x": 7.9366455078125,
                    "y": 1.2839332818984985,
                    "z": 0.06034495308995247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9961323738098145,
                "transform": {
                    "location": {
                        "x": 2975.134521484375,
                        "y": 4269.65283203125,
                        "z": 361.1019592285156
                    },
                    "rotation": {
                        "roll": 5.290935223456472e-05,
                        "pitch": 0.5066224336624146,
                        "yaw": 9.192338943481445
                    }
                },
                "velocity": {
                    "x": 7.892873287200928,
                    "y": 1.2789145708084106,
                    "z": 0.07114867866039276
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055276870727539,
                "transform": {
                    "location": {
                        "x": 2975.637451171875,
                        "y": 4266.44140625,
                        "z": 361.10174560546875
                    },
                    "rotation": {
                        "roll": -6.103718624217436e-05,
                        "pitch": 0.5059598684310913,
                        "yaw": 9.18750286102295
                    }
                },
                "velocity": {
                    "x": 7.95161247253418,
                    "y": 1.2860838174819946,
                    "z": 0.07302600890398026
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6911067962646484,
                "transform": {
                    "location": {
                        "x": 2970.540771484375,
                        "y": 4258.82373046875,
                        "z": 361.0494689941406
                    },
                    "rotation": {
                        "roll": 0.016838427633047104,
                        "pitch": -0.691467821598053,
                        "yaw": -171.4276123046875
                    }
                },
                "velocity": {
                    "x": -0.6815308332443237,
                    "y": -0.11450465023517609,
                    "z": -0.005742864683270454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3016.69482421875,
                        "y": 4276.328125,
                        "z": 361.4892578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3017.36669921875,
                        "y": 4273.1435546875,
                        "z": 361.4834289550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.242742538452148,
                "transform": {
                    "location": {
                        "x": 2917.529052734375,
                        "y": 4253.544921875,
                        "z": 360.64263916015625
                    },
                    "rotation": {
                        "roll": 0.00025416669086553156,
                        "pitch": -0.5632583498954773,
                        "yaw": -170.75819396972656
                    }
                },
                "velocity": {
                    "x": -8.136504173278809,
                    "y": -1.3178527355194092,
                    "z": -0.05814464017748833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019678359967656434,
                "transform": {
                    "location": {
                        "x": 2956.341064453125,
                        "y": 4256.54443359375,
                        "z": 360.91455078125
                    },
                    "rotation": {
                        "roll": -0.015899658203125,
                        "pitch": -0.545684278011322,
                        "yaw": -169.6995849609375
                    }
                },
                "velocity": {
                    "x": 0.00017629723879508674,
                    "y": 8.090119808912277e-05,
                    "z": -3.313707929919474e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7797454595565796,
                "transform": {
                    "location": {
                        "x": 2989.71533203125,
                        "y": 4265.32421875,
                        "z": 361.2198486328125
                    },
                    "rotation": {
                        "roll": -0.006042480003088713,
                        "pitch": -0.2839719355106354,
                        "yaw": -170.72145080566406
                    }
                },
                "velocity": {
                    "x": -1.754563570022583,
                    "y": -0.298113077878952,
                    "z": 0.011359806172549725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.187581062316895,
                "transform": {
                    "location": {
                        "x": 2892.93798828125,
                        "y": 4253.05126953125,
                        "z": 360.4574890136719
                    },
                    "rotation": {
                        "roll": 0.0020375442691147327,
                        "pitch": 0.4020044207572937,
                        "yaw": 9.304152488708496
                    }
                },
                "velocity": {
                    "x": 8.080608367919922,
                    "y": 1.317989468574524,
                    "z": 0.05617590621113777
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.13121223449707,
                "transform": {
                    "location": {
                        "x": 2892.528076171875,
                        "y": 4256.27734375,
                        "z": 360.46832275390625
                    },
                    "rotation": {
                        "roll": 0.004290012177079916,
                        "pitch": 0.41020065546035767,
                        "yaw": 9.299246788024902
                    }
                },
                "velocity": {
                    "x": 8.024542808532715,
                    "y": 1.3115607500076294,
                    "z": 0.05596376210451126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00034767237957566977,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0026550283655524254,
                        "pitch": -0.3930022418498993,
                        "yaw": -170.44732666015625
                    }
                },
                "velocity": {
                    "x": -1.2629702723643277e-05,
                    "y": 1.9812472601188347e-05,
                    "z": -0.00034687755396589637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.924671173095703,
                "transform": {
                    "location": {
                        "x": 2962.306396484375,
                        "y": 4260.7900390625,
                        "z": 360.9671325683594
                    },
                    "rotation": {
                        "roll": -3.052010288229212e-05,
                        "pitch": -0.4709415137767792,
                        "yaw": -170.7837677001953
                    }
                },
                "velocity": {
                    "x": -10.783673286437988,
                    "y": -1.7472596168518066,
                    "z": -0.08895530551671982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0019841098692268133,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0001961425441550091,
                        "pitch": -0.39807024598121643,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 5.9975831391057e-05,
                    "y": -8.713779971003532e-05,
                    "z": -0.0019812879618257284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.501686096191406,
                "transform": {
                    "location": {
                        "x": 2938.993408203125,
                        "y": 4257.01806640625,
                        "z": 360.7945251464844
                    },
                    "rotation": {
                        "roll": 0.0002513995277695358,
                        "pitch": -0.4139094352722168,
                        "yaw": -170.81900024414062
                    }
                },
                "velocity": {
                    "x": -8.392230033874512,
                    "y": -1.3584545850753784,
                    "z": -0.06114228069782257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3952024281024933,
        "expert_target_speed": 10.0,
        "target_point": [
            56.86961346711198,
            1.113325081827158
        ],
        "target_point_next": [
            98.86587807966991,
            1.673078399039401
        ]
    },
    "370": {
        "acceleration": [
            -0.7159304618835449,
            -0.17893105745315552,
            -0.01714477315545082
        ],
        "angular_velocity": [
            -0.1262517124414444,
            -0.19727064669132233,
            -1.724664568901062
        ],
        "forward_vector": [
            -0.9903178811073303,
            -0.13873621821403503,
            -0.004768711049109697
        ],
        "right_vector": [
            0.13874059915542603,
            -0.9903285503387451,
            -0.000598353857640177
        ],
        "location": [
            2946.079345703125,
            4255.34912109375,
            360.8404846191406
        ],
        "rotation": [
            0.03428354486823082,
            -0.2732280492782593,
            -172.0251922607422
        ],
        "velocity": [
            -1.2043663263320923,
            -0.11826911568641663,
            -0.00883810967206955
        ],
        "speed": 1.2101594240958118,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.03174877166748,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056539535522461,
                "transform": {
                    "location": {
                        "x": 2936.359619140625,
                        "y": 4263.37890625,
                        "z": 360.78765869140625
                    },
                    "rotation": {
                        "roll": 0.0016970738070085645,
                        "pitch": 0.41890230774879456,
                        "yaw": 9.188274383544922
                    }
                },
                "velocity": {
                    "x": 7.9529337882995605,
                    "y": 1.2864670753479004,
                    "z": 0.060692593455314636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011605262756348,
                "transform": {
                    "location": {
                        "x": 2936.81396484375,
                        "y": 4260.15966796875,
                        "z": 360.8175964355469
                    },
                    "rotation": {
                        "roll": 0.0002821032248903066,
                        "pitch": 0.4249948263168335,
                        "yaw": 9.191329956054688
                    }
                },
                "velocity": {
                    "x": 7.908295631408691,
                    "y": 1.2810375690460205,
                    "z": 0.06016438454389572
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054704666137695,
                "transform": {
                    "location": {
                        "x": 2977.115234375,
                        "y": 4269.9736328125,
                        "z": 361.1197814941406
                    },
                    "rotation": {
                        "roll": 0.0002518096298445016,
                        "pitch": 0.5056183934211731,
                        "yaw": 9.190071105957031
                    }
                },
                "velocity": {
                    "x": 7.950999736785889,
                    "y": 1.2863749265670776,
                    "z": 0.07157254964113235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995059013366699,
                "transform": {
                    "location": {
                        "x": 2977.61767578125,
                        "y": 4266.76171875,
                        "z": 361.11956787109375
                    },
                    "rotation": {
                        "roll": -0.000976565177552402,
                        "pitch": 0.5072234869003296,
                        "yaw": 9.187390327453613
                    }
                },
                "velocity": {
                    "x": 7.892166614532471,
                    "y": 1.2765305042266846,
                    "z": 0.07171598076820374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2309420108795166,
                "transform": {
                    "location": {
                        "x": 2970.139404296875,
                        "y": 4258.759765625,
                        "z": 361.04315185546875
                    },
                    "rotation": {
                        "roll": 0.0031150421127676964,
                        "pitch": -0.34295743703842163,
                        "yaw": -171.38990783691406
                    }
                },
                "velocity": {
                    "x": -2.2029643058776855,
                    "y": -0.35173341631889343,
                    "z": -0.01828264258801937
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3018.631103515625,
                        "y": 4276.60107421875,
                        "z": 361.5064392089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3019.29736328125,
                        "y": 4273.41357421875,
                        "z": 361.506591796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.24990463256836,
                "transform": {
                    "location": {
                        "x": 2915.360595703125,
                        "y": 4253.193359375,
                        "z": 360.6266784667969
                    },
                    "rotation": {
                        "roll": -0.0010986350243911147,
                        "pitch": -0.5195929408073425,
                        "yaw": -170.80340576171875
                    }
                },
                "velocity": {
                    "x": -9.130922317504883,
                    "y": -1.4774112701416016,
                    "z": -0.06511594355106354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4548136591911316,
                "transform": {
                    "location": {
                        "x": 2956.31298828125,
                        "y": 4256.5390625,
                        "z": 360.9136962890625
                    },
                    "rotation": {
                        "roll": -0.009704590775072575,
                        "pitch": -0.45523208379745483,
                        "yaw": -169.71209716796875
                    }
                },
                "velocity": {
                    "x": -0.44867339730262756,
                    "y": -0.07442458719015121,
                    "z": -0.002936191391199827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3581080436706543,
                "transform": {
                    "location": {
                        "x": 2989.077392578125,
                        "y": 4265.21533203125,
                        "z": 361.21697998046875
                    },
                    "rotation": {
                        "roll": -0.00961303524672985,
                        "pitch": -0.22247974574565887,
                        "yaw": -170.55661010742188
                    }
                },
                "velocity": {
                    "x": -3.310084819793701,
                    "y": -0.5652604699134827,
                    "z": -0.02663259021937847
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.953754901885986,
                "transform": {
                    "location": {
                        "x": 2894.927734375,
                        "y": 4253.37548828125,
                        "z": 360.4714050292969
                    },
                    "rotation": {
                        "roll": 0.0014955549268051982,
                        "pitch": 0.3850177526473999,
                        "yaw": 9.260766983032227
                    }
                },
                "velocity": {
                    "x": 7.849894046783447,
                    "y": 1.2799197435379028,
                    "z": 0.05644684657454491
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.999908447265625,
                "transform": {
                    "location": {
                        "x": 2894.515869140625,
                        "y": 4256.6015625,
                        "z": 360.4820251464844
                    },
                    "rotation": {
                        "roll": 0.003265923820436001,
                        "pitch": 0.38343995809555054,
                        "yaw": 9.266010284423828
                    }
                },
                "velocity": {
                    "x": 7.895486831665039,
                    "y": 1.287129521369934,
                    "z": 0.0558912456035614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.817927037947811e-05,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0020751955453306437,
                        "pitch": -0.3932481110095978,
                        "yaw": -170.44732666015625
                    }
                },
                "velocity": {
                    "x": -8.084624823823106e-06,
                    "y": -1.888906081148889e-05,
                    "z": -4.357848229119554e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.603835105895996,
                "transform": {
                    "location": {
                        "x": 2959.64453125,
                        "y": 4260.359375,
                        "z": 360.94525146484375
                    },
                    "rotation": {
                        "roll": 6.405862222891301e-05,
                        "pitch": -0.48049694299697876,
                        "yaw": -170.8214874267578
                    }
                },
                "velocity": {
                    "x": -10.4675874710083,
                    "y": -1.6921604871749878,
                    "z": -0.0867217630147934
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00013672657951246947,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0006239767535589635,
                        "pitch": -0.3978516757488251,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -4.4474974856711924e-05,
                    "y": -2.7788009901996702e-05,
                    "z": 0.0001262693986063823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.646846771240234,
                "transform": {
                    "location": {
                        "x": 2936.752197265625,
                        "y": 4256.65576171875,
                        "z": 360.7781066894531
                    },
                    "rotation": {
                        "roll": -0.0008544927113689482,
                        "pitch": -0.28323426842689514,
                        "yaw": -170.7952117919922
                    }
                },
                "velocity": {
                    "x": -9.522573471069336,
                    "y": -1.5418156385421753,
                    "z": -0.0710635706782341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.42165407538414,
        "expert_target_speed": 10.0,
        "target_point": [
            56.59248739345559,
            1.573361139767039
        ],
        "target_point_next": [
            98.58301037262945,
            2.4652945002759843
        ]
    },
    "375": {
        "acceleration": [
            0.6931066513061523,
            0.07782250642776489,
            -0.0003831833600997925
        ],
        "angular_velocity": [
            0.09837468713521957,
            -0.5322929620742798,
            -0.7305018901824951
        ],
        "forward_vector": [
            -0.9910044074058533,
            -0.13366298377513885,
            -0.00666839862242341
        ],
        "right_vector": [
            0.1336660087108612,
            -0.9910264611244202,
            -8.303031791001558e-06
        ],
        "location": [
            2945.779052734375,
            4255.3154296875,
            360.8386535644531
        ],
        "rotation": [
            0.0004757392453029752,
            -0.38207393884658813,
            -172.31851196289062
        ],
        "velocity": [
            -1.1360852718353271,
            -0.13226693868637085,
            -0.00883744191378355
        ],
        "speed": 1.143758841692869,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.73279857635498,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996211051940918,
                "transform": {
                    "location": {
                        "x": 2938.34033203125,
                        "y": 4263.69873046875,
                        "z": 360.8023986816406
                    },
                    "rotation": {
                        "roll": -6.102977931732312e-05,
                        "pitch": 0.41999512910842896,
                        "yaw": 9.185111999511719
                    }
                },
                "velocity": {
                    "x": 7.893500328063965,
                    "y": 1.2761197090148926,
                    "z": 0.05967939272522926
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038016319274902,
                "transform": {
                    "location": {
                        "x": 2938.794677734375,
                        "y": 4260.47998046875,
                        "z": 360.8324279785156
                    },
                    "rotation": {
                        "roll": -0.0014343289658427238,
                        "pitch": 0.42401811480522156,
                        "yaw": 9.189624786376953
                    }
                },
                "velocity": {
                    "x": 7.934639930725098,
                    "y": 1.2835932970046997,
                    "z": 0.05979929864406586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995857238769531,
                "transform": {
                    "location": {
                        "x": 2979.095458984375,
                        "y": 4270.2939453125,
                        "z": 361.1378479003906
                    },
                    "rotation": {
                        "roll": 0.00038340649916790426,
                        "pitch": 0.5143405199050903,
                        "yaw": 9.188050270080566
                    }
                },
                "velocity": {
                    "x": 7.892690658569336,
                    "y": 1.2782891988754272,
                    "z": 0.07173244655132294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054999351501465,
                "transform": {
                    "location": {
                        "x": 2979.598388671875,
                        "y": 4267.08251953125,
                        "z": 361.1376953125
                    },
                    "rotation": {
                        "roll": -0.0015869186026975513,
                        "pitch": 0.5133091807365417,
                        "yaw": 9.187724113464355
                    }
                },
                "velocity": {
                    "x": 7.9513421058654785,
                    "y": 1.2860205173492432,
                    "z": 0.0729387104511261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7871005535125732,
                "transform": {
                    "location": {
                        "x": 2969.826171875,
                        "y": 4258.71044921875,
                        "z": 361.0438232421875
                    },
                    "rotation": {
                        "roll": 0.010063336230814457,
                        "pitch": -0.7522223591804504,
                        "yaw": -171.31126403808594
                    }
                },
                "velocity": {
                    "x": -0.7771151065826416,
                    "y": -0.12481091916561127,
                    "z": -0.006450519431382418
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3020.494873046875,
                        "y": 4276.8935546875,
                        "z": 361.524169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3021.155517578125,
                        "y": 4273.70556640625,
                        "z": 361.5254211425781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.142670631408691,
                "transform": {
                    "location": {
                        "x": 2912.962158203125,
                        "y": 4252.80517578125,
                        "z": 360.6094055175781
                    },
                    "rotation": {
                        "roll": 0.0006024031317792833,
                        "pitch": -0.49529796838760376,
                        "yaw": -170.7927703857422
                    }
                },
                "velocity": {
                    "x": -10.01211929321289,
                    "y": -1.6205397844314575,
                    "z": -0.07131846994161606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.200609803199768,
                "transform": {
                    "location": {
                        "x": 2956.085205078125,
                        "y": 4256.50048828125,
                        "z": 360.9119873046875
                    },
                    "rotation": {
                        "roll": -0.004486081190407276,
                        "pitch": -0.41522082686424255,
                        "yaw": -169.8898468017578
                    }
                },
                "velocity": {
                    "x": -1.184768557548523,
                    "y": -0.1941855400800705,
                    "z": -0.008913135156035423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.854267120361328,
                "transform": {
                    "location": {
                        "x": 2988.053466796875,
                        "y": 4265.0400390625,
                        "z": 361.2078552246094
                    },
                    "rotation": {
                        "roll": -0.011138916015625,
                        "pitch": -0.21712486445903778,
                        "yaw": -170.40245056152344
                    }
                },
                "velocity": {
                    "x": -4.784003257751465,
                    "y": -0.8216897249221802,
                    "z": -0.04525108262896538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080312728881836,
                "transform": {
                    "location": {
                        "x": 2896.902099609375,
                        "y": 4253.697265625,
                        "z": 360.4850158691406
                    },
                    "rotation": {
                        "roll": 0.0010056891478598118,
                        "pitch": 0.3951947093009949,
                        "yaw": 9.250060081481934
                    }
                },
                "velocity": {
                    "x": 7.975532531738281,
                    "y": 1.2958096265792847,
                    "z": 0.056650400161743164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060125350952148,
                "transform": {
                    "location": {
                        "x": 2896.495361328125,
                        "y": 4256.92431640625,
                        "z": 360.4957275390625
                    },
                    "rotation": {
                        "roll": 0.00213735387660563,
                        "pitch": 0.3980087637901306,
                        "yaw": 9.251742362976074
                    }
                },
                "velocity": {
                    "x": 7.955198287963867,
                    "y": 1.2951186895370483,
                    "z": 0.05580989643931389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004959533107466996,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0022582977544516325,
                        "pitch": -0.3929749131202698,
                        "yaw": -170.44737243652344
                    }
                },
                "velocity": {
                    "x": -1.3415515240922105e-05,
                    "y": 5.5396740208379924e-06,
                    "z": -0.0004957408527843654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.771949768066406,
                "transform": {
                    "location": {
                        "x": 2957.15771484375,
                        "y": 4259.95703125,
                        "z": 360.9252014160156
                    },
                    "rotation": {
                        "roll": 0.0009498427389189601,
                        "pitch": -0.5007621049880981,
                        "yaw": -170.7963104248047
                    }
                },
                "velocity": {
                    "x": -9.646191596984863,
                    "y": -1.560689091682434,
                    "z": -0.0790024995803833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00032347955857403576,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0004983556573279202,
                        "pitch": -0.3983161151409149,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -4.457719478523359e-05,
                    "y": 5.872154360986315e-05,
                    "z": -0.00031496616429649293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.948456764221191,
                "transform": {
                    "location": {
                        "x": 2934.283447265625,
                        "y": 4256.25634765625,
                        "z": 360.7596130371094
                    },
                    "rotation": {
                        "roll": 0.0006361836567521095,
                        "pitch": -0.3555591404438019,
                        "yaw": -170.81076049804688
                    }
                },
                "velocity": {
                    "x": -9.820314407348633,
                    "y": -1.5899654626846313,
                    "z": -0.07225344330072403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44626328349113464,
        "expert_target_speed": 10.0,
        "target_point": [
            56.28158875583258,
            1.869831330507762
        ],
        "target_point_next": [
            98.26699489992562,
            2.9767351653866463
        ]
    },
    "380": {
        "acceleration": [
            1.1263418197631836,
            0.11006861925125122,
            0.006200782954692841
        ],
        "angular_velocity": [
            0.07389290630817413,
            -0.26813533902168274,
            -0.4374437928199768
        ],
        "forward_vector": [
            -0.9913499355316162,
            -0.13097143173217773,
            -0.008473533205688
        ],
        "right_vector": [
            0.13097696006298065,
            -0.9913854002952576,
            -9.923025936586782e-05
        ],
        "location": [
            2945.52685546875,
            4255.28564453125,
            360.8370666503906
        ],
        "rotation": [
            0.0056856791488826275,
            -0.48550349473953247,
            -172.4739990234375
        ],
        "velocity": [
            -0.8966401219367981,
            -0.10433115810155869,
            -0.007878818549215794
        ],
        "speed": 0.9026895916192058,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.481451988220215,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056687355041504,
                "transform": {
                    "location": {
                        "x": 2940.3212890625,
                        "y": 4264.01904296875,
                        "z": 360.8172302246094
                    },
                    "rotation": {
                        "roll": -3.05198882415425e-05,
                        "pitch": 0.4193257689476013,
                        "yaw": 9.184678077697754
                    }
                },
                "velocity": {
                    "x": 7.9531707763671875,
                    "y": 1.2859662771224976,
                    "z": 0.05990589037537575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008466720581055,
                "transform": {
                    "location": {
                        "x": 2940.7744140625,
                        "y": 4260.80029296875,
                        "z": 360.84716796875
                    },
                    "rotation": {
                        "roll": -9.155305451713502e-05,
                        "pitch": 0.42416155338287354,
                        "yaw": 9.188790321350098
                    }
                },
                "velocity": {
                    "x": 7.9054388999938965,
                    "y": 1.2790430784225464,
                    "z": 0.06025559455156326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054712295532227,
                "transform": {
                    "location": {
                        "x": 2981.076416015625,
                        "y": 4270.61474609375,
                        "z": 361.1559753417969
                    },
                    "rotation": {
                        "roll": -0.0011291520204395056,
                        "pitch": 0.5196202993392944,
                        "yaw": 9.190187454223633
                    }
                },
                "velocity": {
                    "x": 7.951015949249268,
                    "y": 1.2862420082092285,
                    "z": 0.07293447107076645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9957380294799805,
                "transform": {
                    "location": {
                        "x": 2981.57861328125,
                        "y": 4267.4033203125,
                        "z": 361.15582275390625
                    },
                    "rotation": {
                        "roll": -0.0005798329366371036,
                        "pitch": 0.5206789374351501,
                        "yaw": 9.19482135772705
                    }
                },
                "velocity": {
                    "x": 7.892680644989014,
                    "y": 1.2775975465774536,
                    "z": 0.07185304164886475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.148502826690674,
                "transform": {
                    "location": {
                        "x": 2969.440673828125,
                        "y": 4258.6494140625,
                        "z": 361.0371398925781
                    },
                    "rotation": {
                        "roll": -0.0011596675030887127,
                        "pitch": -0.33224770426750183,
                        "yaw": -171.1914825439453
                    }
                },
                "velocity": {
                    "x": -2.1212782859802246,
                    "y": -0.34044885635375977,
                    "z": -0.018375448882579803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3834,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3022.292236328125,
                        "y": 4277.18359375,
                        "z": 361.54150390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3833,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3022.94677734375,
                        "y": 4273.99609375,
                        "z": 361.5427551269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5484368205070496,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.8887300491333,
                "transform": {
                    "location": {
                        "x": 2910.3515625,
                        "y": 4252.3828125,
                        "z": 360.5906677246094
                    },
                    "rotation": {
                        "roll": -3.3351716943741394e-09,
                        "pitch": -0.48284652829170227,
                        "yaw": -170.82679748535156
                    }
                },
                "velocity": {
                    "x": -10.74914264678955,
                    "y": -1.7362208366394043,
                    "z": -0.07691497355699539
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3277682065963745,
                "transform": {
                    "location": {
                        "x": 2955.78564453125,
                        "y": 4256.4482421875,
                        "z": 360.90960693359375
                    },
                    "rotation": {
                        "roll": -0.0037841834127902985,
                        "pitch": -0.4409160017967224,
                        "yaw": -170.13555908203125
                    }
                },
                "velocity": {
                    "x": -1.3099197149276733,
                    "y": -0.21673229336738586,
                    "z": -0.010280503891408443
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.5397186279296875,
                "transform": {
                    "location": {
                        "x": 2986.74169921875,
                        "y": 4264.814453125,
                        "z": 361.1958923339844
                    },
                    "rotation": {
                        "roll": -0.009552001021802425,
                        "pitch": -0.3613579571247101,
                        "yaw": -170.28204345703125
                    }
                },
                "velocity": {
                    "x": -5.4588823318481445,
                    "y": -0.9415251016616821,
                    "z": -0.051152944564819336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.034017562866211,
                "transform": {
                    "location": {
                        "x": 2898.894287109375,
                        "y": 4254.02099609375,
                        "z": 360.4988708496094
                    },
                    "rotation": {
                        "roll": -0.0005798328202217817,
                        "pitch": 0.39502397179603577,
                        "yaw": 9.229294776916504
                    }
                },
                "velocity": {
                    "x": 7.930074214935303,
                    "y": 1.2869514226913452,
                    "z": 0.05579989403486252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050299644470215,
                "transform": {
                    "location": {
                        "x": 2898.4853515625,
                        "y": 4257.248046875,
                        "z": 360.5094909667969
                    },
                    "rotation": {
                        "roll": 0.0005068302270956337,
                        "pitch": 0.39766043424606323,
                        "yaw": 9.228065490722656
                    }
                },
                "velocity": {
                    "x": 7.946052551269531,
                    "y": 1.290123701095581,
                    "z": 0.05618606507778168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010742376616690308,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.3930363953113556,
                        "yaw": -170.44740295410156
                    }
                },
                "velocity": {
                    "x": 1.0770708286145236e-05,
                    "y": -2.8295593438087963e-05,
                    "z": -0.00010306898911949247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.740791320800781,
                "transform": {
                    "location": {
                        "x": 2954.76904296875,
                        "y": 4259.5703125,
                        "z": 360.90570068359375
                    },
                    "rotation": {
                        "roll": -0.0005798316560685635,
                        "pitch": -0.4676835238933563,
                        "yaw": -170.81668090820312
                    }
                },
                "velocity": {
                    "x": -9.61524772644043,
                    "y": -1.556978464126587,
                    "z": -0.0764567106962204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004484036471694708,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0004983556573279202,
                        "pitch": -0.3983161151409149,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -1.7484127965872176e-05,
                    "y": 3.1333398510469124e-05,
                    "z": -0.00044696571421809494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.786200523376465,
                "transform": {
                    "location": {
                        "x": 2931.8759765625,
                        "y": 4255.8662109375,
                        "z": 360.74163818359375
                    },
                    "rotation": {
                        "roll": -0.0007934609893709421,
                        "pitch": -0.42511093616485596,
                        "yaw": -170.788818359375
                    }
                },
                "velocity": {
                    "x": -9.66010570526123,
                    "y": -1.5642495155334473,
                    "z": -0.07212217897176743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4489303231239319,
        "expert_target_speed": 0,
        "target_point": [
            56.02238154446249,
            2.0260577093523855
        ],
        "target_point_next": [
            98.0046293177051,
            3.246892296912261
        ]
    },
    "385": {
        "acceleration": [
            0.6084787845611572,
            0.10890185832977295,
            0.0028795283287763596
        ],
        "angular_velocity": [
            -0.004643932916224003,
            -0.004746314138174057,
            -0.4548521935939789
        ],
        "forward_vector": [
            -0.9916362762451172,
            -0.12874898314476013,
            -0.009010430425405502
        ],
        "right_vector": [
            0.12875580787658691,
            -0.9916763305664062,
            -0.00017843545356299728
        ],
        "location": [
            2945.329345703125,
            4255.26220703125,
            360.8357238769531
        ],
        "rotation": [
            0.010224013589322567,
            -0.5162666440010071,
            -172.60238647460938
        ],
        "velocity": [
            -0.7016394734382629,
            -0.07822958379983902,
            -0.00554282171651721
        ],
        "speed": 0.7059871234436355,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.284648895263672,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996582508087158,
                "transform": {
                    "location": {
                        "x": 2942.3017578125,
                        "y": 4264.34033203125,
                        "z": 360.8320617675781
                    },
                    "rotation": {
                        "roll": -0.0002441425749566406,
                        "pitch": 0.4237380921840668,
                        "yaw": 9.19131088256836
                    }
                },
                "velocity": {
                    "x": 7.893657684326172,
                    "y": 1.2774441242218018,
                    "z": 0.06031215563416481
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042720794677734,
                "transform": {
                    "location": {
                        "x": 2942.755126953125,
                        "y": 4261.12158203125,
                        "z": 360.8620300292969
                    },
                    "rotation": {
                        "roll": 0.0009410482016392052,
                        "pitch": 0.42855337262153625,
                        "yaw": 9.193366050720215
                    }
                },
                "velocity": {
                    "x": 7.9394354820251465,
                    "y": 1.2833962440490723,
                    "z": 0.060191307216882706
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994626998901367,
                "transform": {
                    "location": {
                        "x": 2983.056396484375,
                        "y": 4270.93505859375,
                        "z": 361.17425537109375
                    },
                    "rotation": {
                        "roll": 0.00024002364079933614,
                        "pitch": 0.5197842121124268,
                        "yaw": 9.193374633789062
                    }
                },
                "velocity": {
                    "x": 7.891604900360107,
                    "y": 1.2772719860076904,
                    "z": 0.07217193394899368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054460525512695,
                "transform": {
                    "location": {
                        "x": 2983.559326171875,
                        "y": 4267.72412109375,
                        "z": 361.17413330078125
                    },
                    "rotation": {
                        "roll": 4.3724347051465884e-05,
                        "pitch": 0.5200710892677307,
                        "yaw": 9.195060729980469
                    }
                },
                "velocity": {
                    "x": 7.950636863708496,
                    "y": 1.286975383758545,
                    "z": 0.07344692200422287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.017311668023467064,
                "transform": {
                    "location": {
                        "x": 2968.989501953125,
                        "y": 4258.57666015625,
                        "z": 361.03570556640625
                    },
                    "rotation": {
                        "roll": 0.007172167766839266,
                        "pitch": -0.6392783522605896,
                        "yaw": -171.2014617919922
                    }
                },
                "velocity": {
                    "x": -0.016764145344495773,
                    "y": -0.004248044453561306,
                    "z": -0.0007819251623004675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.859084129333496,
                "transform": {
                    "location": {
                        "x": 2907.76806640625,
                        "y": 4251.96533203125,
                        "z": 360.5711669921875
                    },
                    "rotation": {
                        "roll": 0.0005014968919567764,
                        "pitch": -0.3292834162712097,
                        "yaw": -170.80299377441406
                    }
                },
                "velocity": {
                    "x": -9.732234001159668,
                    "y": -1.5749280452728271,
                    "z": -0.06904434412717819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.484440565109253,
                "transform": {
                    "location": {
                        "x": 2955.389404296875,
                        "y": 4256.37939453125,
                        "z": 360.9064636230469
                    },
                    "rotation": {
                        "roll": -0.00247192638926208,
                        "pitch": -0.45642054080963135,
                        "yaw": -170.63671875
                    }
                },
                "velocity": {
                    "x": -1.4633119106292725,
                    "y": -0.24928756058216095,
                    "z": -0.011740160174667835
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.285178184509277,
                "transform": {
                    "location": {
                        "x": 2985.232421875,
                        "y": 4264.55419921875,
                        "z": 361.18170166015625
                    },
                    "rotation": {
                        "roll": 0.0010743329767137766,
                        "pitch": -0.39557039737701416,
                        "yaw": -170.26319885253906
                    }
                },
                "velocity": {
                    "x": -6.195688724517822,
                    "y": -1.0552713871002197,
                    "z": -0.05755407363176346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049369812011719,
                "transform": {
                    "location": {
                        "x": 2900.876220703125,
                        "y": 4254.34326171875,
                        "z": 360.51263427734375
                    },
                    "rotation": {
                        "roll": 6.736300565535203e-05,
                        "pitch": 0.3952220380306244,
                        "yaw": 9.218091011047363
                    }
                },
                "velocity": {
                    "x": 7.945230484008789,
                    "y": 1.2893736362457275,
                    "z": 0.05639348924160004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042206764221191,
                "transform": {
                    "location": {
                        "x": 2900.4697265625,
                        "y": 4257.5703125,
                        "z": 360.5233154296875
                    },
                    "rotation": {
                        "roll": 0.00034858478466048837,
                        "pitch": 0.39700472354888916,
                        "yaw": 9.221087455749512
                    }
                },
                "velocity": {
                    "x": 7.938089370727539,
                    "y": 1.2886452674865723,
                    "z": 0.05665973573923111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007397706503979862,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.0018920869333669543,
                        "pitch": -0.3937057554721832,
                        "yaw": -170.44740295410156
                    }
                },
                "velocity": {
                    "x": -5.659386260958854e-06,
                    "y": -1.6727000911487266e-05,
                    "z": -0.0007395598222501576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.481139183044434,
                "transform": {
                    "location": {
                        "x": 2952.278076171875,
                        "y": 4259.1669921875,
                        "z": 360.8856506347656
                    },
                    "rotation": {
                        "roll": 0.000308683724142611,
                        "pitch": -0.40944933891296387,
                        "yaw": -170.79039001464844
                    }
                },
                "velocity": {
                    "x": -10.34575080871582,
                    "y": -1.6772161722183228,
                    "z": -0.08161328732967377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.969787839101627e-05,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0008794880122877657,
                        "pitch": -0.39776286482810974,
                        "yaw": -170.80856323242188
                    }
                },
                "velocity": {
                    "x": -1.2261270967428572e-05,
                    "y": 7.470695709344e-05,
                    "z": -2.4905495592975058e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.408714294433594,
                "transform": {
                    "location": {
                        "x": 2929.3662109375,
                        "y": 4255.4599609375,
                        "z": 360.72314453125
                    },
                    "rotation": {
                        "roll": 0.0012588116806000471,
                        "pitch": -0.343449205160141,
                        "yaw": -170.81520080566406
                    }
                },
                "velocity": {
                    "x": -10.274855613708496,
                    "y": -1.6622059345245361,
                    "z": -0.07585117965936661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4656071066856384,
        "expert_target_speed": 0,
        "target_point": [
            55.818817737876,
            2.153767320163797
        ],
        "target_point_next": [
            97.79822465397012,
            3.4686666155871837
        ]
    },
    "390": {
        "acceleration": [
            0.01910078153014183,
            -0.002722989534959197,
            0.007175520062446594
        ],
        "angular_velocity": [
            -0.03006470389664173,
            0.5692670345306396,
            8.674733544467017e-05
        ],
        "forward_vector": [
            -0.9916662573814392,
            -0.12831366062164307,
            -0.011557321064174175
        ],
        "right_vector": [
            0.12832285463809967,
            -0.9917324781417847,
            -5.508522372110747e-05
        ],
        "location": [
            2945.288330078125,
            4255.2578125,
            360.83599853515625
        ],
        "rotation": [
            0.0031563618686050177,
            -0.6622004508972168,
            -172.62734985351562
        ],
        "velocity": [
            0.0018626960227265954,
            -0.00028265127912163734,
            -0.0006970012909732759
        ],
        "speed": 0.0018840191662163564,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.243915557861328,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05644702911377,
                "transform": {
                    "location": {
                        "x": 2944.28271484375,
                        "y": 4264.6611328125,
                        "z": 360.8470153808594
                    },
                    "rotation": {
                        "roll": -0.00024413932987954468,
                        "pitch": 0.42682531476020813,
                        "yaw": 9.191987037658691
                    }
                },
                "velocity": {
                    "x": 7.952764511108398,
                    "y": 1.2869393825531006,
                    "z": 0.06052014231681824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006012916564941,
                "transform": {
                    "location": {
                        "x": 2944.7353515625,
                        "y": 4261.44189453125,
                        "z": 360.8769836425781
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": 0.4315654933452606,
                        "yaw": 9.189555168151855
                    }
                },
                "velocity": {
                    "x": 7.903273582458496,
                    "y": 1.2771100997924805,
                    "z": 0.05913691222667694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055388450622559,
                "transform": {
                    "location": {
                        "x": 2985.037109375,
                        "y": 4271.25537109375,
                        "z": 361.19268798828125
                    },
                    "rotation": {
                        "roll": -6.104068597778678e-05,
                        "pitch": 0.5232129693031311,
                        "yaw": 9.189827919006348
                    }
                },
                "velocity": {
                    "x": 7.9516730308532715,
                    "y": 1.2863795757293701,
                    "z": 0.0736047551035881
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99522066116333,
                "transform": {
                    "location": {
                        "x": 2985.539306640625,
                        "y": 4268.04541015625,
                        "z": 361.19256591796875
                    },
                    "rotation": {
                        "roll": 0.0002781217626761645,
                        "pitch": 0.5249888300895691,
                        "yaw": 9.193309783935547
                    }
                },
                "velocity": {
                    "x": 7.892454624176025,
                    "y": 1.2757281064987183,
                    "z": 0.07228279113769531
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0467462539672852,
                "transform": {
                    "location": {
                        "x": 2968.84033203125,
                        "y": 4258.55224609375,
                        "z": 361.0342102050781
                    },
                    "rotation": {
                        "roll": 0.0038289360236376524,
                        "pitch": -0.6162947416305542,
                        "yaw": -171.21633911132812
                    }
                },
                "velocity": {
                    "x": -1.0335267782211304,
                    "y": -0.1655888706445694,
                    "z": -0.008962811902165413
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.684976577758789,
                "transform": {
                    "location": {
                        "x": 2905.504638671875,
                        "y": 4251.59912109375,
                        "z": 360.55487060546875
                    },
                    "rotation": {
                        "roll": 0.00024684370146133006,
                        "pitch": -0.2860414683818817,
                        "yaw": -170.82321166992188
                    }
                },
                "velocity": {
                    "x": -8.573505401611328,
                    "y": -1.385721206665039,
                    "z": -0.06009082496166229
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002488470054231584,
                "transform": {
                    "location": {
                        "x": 2955.18408203125,
                        "y": 4256.345703125,
                        "z": 360.90521240234375
                    },
                    "rotation": {
                        "roll": -0.002349851420149207,
                        "pitch": -0.5451310276985168,
                        "yaw": -170.66970825195312
                    }
                },
                "velocity": {
                    "x": 7.575318159069866e-05,
                    "y": 0.00016338333080057055,
                    "z": -0.00017173285596072674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.706221580505371,
                "transform": {
                    "location": {
                        "x": 2983.326904296875,
                        "y": 4264.23291015625,
                        "z": 361.1640930175781
                    },
                    "rotation": {
                        "roll": 0.007284747436642647,
                        "pitch": -0.1458723396062851,
                        "yaw": -170.4071502685547
                    }
                },
                "velocity": {
                    "x": -8.585285186767578,
                    "y": -1.4438923597335815,
                    "z": -0.07974205166101456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030409812927246,
                "transform": {
                    "location": {
                        "x": 2902.860595703125,
                        "y": 4254.66455078125,
                        "z": 360.5264892578125
                    },
                    "rotation": {
                        "roll": 0.0002168270293623209,
                        "pitch": 0.39779019355773926,
                        "yaw": 9.213550567626953
                    }
                },
                "velocity": {
                    "x": 7.926638126373291,
                    "y": 1.285590648651123,
                    "z": 0.05608227476477623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04683780670166,
                "transform": {
                    "location": {
                        "x": 2902.454833984375,
                        "y": 4257.892578125,
                        "z": 360.5372619628906
                    },
                    "rotation": {
                        "roll": 0.000411252083722502,
                        "pitch": 0.39977094531059265,
                        "yaw": 9.21169662475586
                    }
                },
                "velocity": {
                    "x": 7.942857265472412,
                    "y": 1.2881537675857544,
                    "z": 0.05725499987602234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007867817184887826,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.0018920869333669543,
                        "pitch": -0.3937057554721832,
                        "yaw": -170.44740295410156
                    }
                },
                "velocity": {
                    "x": -5.04985428051441e-06,
                    "y": 1.8487590978111257e-06,
                    "z": -0.000786763324867934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.126605033874512,
                "transform": {
                    "location": {
                        "x": 2949.584716796875,
                        "y": 4258.73095703125,
                        "z": 360.8644714355469
                    },
                    "rotation": {
                        "roll": 0.0013595472555607557,
                        "pitch": -0.3979472815990448,
                        "yaw": -170.82223510742188
                    }
                },
                "velocity": {
                    "x": -10.983757019042969,
                    "y": -1.7752134799957275,
                    "z": -0.08382818847894669
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003392871585674584,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.000332929688738659,
                        "pitch": -0.3983502686023712,
                        "yaw": -170.80859375
                    }
                },
                "velocity": {
                    "x": 4.5574677642434835e-05,
                    "y": -7.396278670057654e-05,
                    "z": -0.00032797595486044884
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.217888832092285,
                "transform": {
                    "location": {
                        "x": 2926.9296875,
                        "y": 4255.0654296875,
                        "z": 360.7049255371094
                    },
                    "rotation": {
                        "roll": -0.0002136262774001807,
                        "pitch": -0.5390931367874146,
                        "yaw": -170.79930114746094
                    }
                },
                "velocity": {
                    "x": -9.09931755065918,
                    "y": -1.4722177982330322,
                    "z": -0.06682863086462021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.47423064708709717,
        "expert_target_speed": 0,
        "target_point": [
            55.776633316385706,
            2.178999594795898
        ],
        "target_point_next": [
            97.75546317410678,
            3.512194614522043
        ]
    },
    "395": {
        "acceleration": [
            -1.1383706331253052,
            -0.11098668724298477,
            -0.0076906196773052216
        ],
        "angular_velocity": [
            -0.014648450538516045,
            0.5827835202217102,
            0.5284811854362488
        ],
        "forward_vector": [
            -0.9917209148406982,
            -0.1281147301197052,
            -0.008727677166461945
        ],
        "right_vector": [
            0.12812116742134094,
            -0.9917585253715515,
            -0.00018055432883556932
        ],
        "location": [
            2945.273681640625,
            4255.25537109375,
            360.83526611328125
        ],
        "rotation": [
            0.010345395654439926,
            -0.5000654458999634,
            -172.63905334472656
        ],
        "velocity": [
            -0.10820236802101135,
            -0.01260214764624834,
            -0.001691904035396874
        ],
        "speed": 0.1089337714882406,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.229133605957031,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9961652755737305,
                "transform": {
                    "location": {
                        "x": 2946.262939453125,
                        "y": 4264.98095703125,
                        "z": 360.862060546875
                    },
                    "rotation": {
                        "roll": -0.00012206634710310027,
                        "pitch": 0.4274536967277527,
                        "yaw": 9.191851615905762
                    }
                },
                "velocity": {
                    "x": 7.893261432647705,
                    "y": 1.2772867679595947,
                    "z": 0.06015711650252342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042817115783691,
                "transform": {
                    "location": {
                        "x": 2946.7158203125,
                        "y": 4261.76220703125,
                        "z": 360.89202880859375
                    },
                    "rotation": {
                        "roll": -0.00045776579645462334,
                        "pitch": 0.43306130170822144,
                        "yaw": 9.190727233886719
                    }
                },
                "velocity": {
                    "x": 7.939317226409912,
                    "y": 1.28462815284729,
                    "z": 0.062251850962638855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994863510131836,
                "transform": {
                    "location": {
                        "x": 2987.017333984375,
                        "y": 4271.57568359375,
                        "z": 361.21112060546875
                    },
                    "rotation": {
                        "roll": 0.0013992005260661244,
                        "pitch": 0.5258357524871826,
                        "yaw": 9.18817138671875
                    }
                },
                "velocity": {
                    "x": 7.89194917678833,
                    "y": 1.2765815258026123,
                    "z": 0.07289955019950867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054891586303711,
                "transform": {
                    "location": {
                        "x": 2987.520263671875,
                        "y": 4268.36572265625,
                        "z": 361.21099853515625
                    },
                    "rotation": {
                        "roll": -0.00039673459832556546,
                        "pitch": 0.5253371596336365,
                        "yaw": 9.189667701721191
                    }
                },
                "velocity": {
                    "x": 7.951460361480713,
                    "y": 1.284601092338562,
                    "z": 0.07316268980503082
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3152201175689697,
                "transform": {
                    "location": {
                        "x": 2968.407958984375,
                        "y": 4258.48388671875,
                        "z": 361.02685546875
                    },
                    "rotation": {
                        "roll": -0.003265379462391138,
                        "pitch": -0.1729472130537033,
                        "yaw": -171.11502075195312
                    }
                },
                "velocity": {
                    "x": -2.285707712173462,
                    "y": -0.3680041432380676,
                    "z": -0.018911633640527725
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3832,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.684217929840088,
                "transform": {
                    "location": {
                        "x": 2903.759033203125,
                        "y": 4251.31005859375,
                        "z": 360.5415954589844
                    },
                    "rotation": {
                        "roll": 0.009357077069580555,
                        "pitch": -0.15561218559741974,
                        "yaw": -171.41563415527344
                    }
                },
                "velocity": {
                    "x": -5.608845233917236,
                    "y": -0.9217626452445984,
                    "z": -0.039266180247068405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017384393140673637,
                "transform": {
                    "location": {
                        "x": 2955.18359375,
                        "y": 4256.34521484375,
                        "z": 360.90472412109375
                    },
                    "rotation": {
                        "roll": -0.002716065850108862,
                        "pitch": -0.47958171367645264,
                        "yaw": -170.6697235107422
                    }
                },
                "velocity": {
                    "x": 6.48538043606095e-05,
                    "y": 5.851251262356527e-05,
                    "z": 0.001736243488267064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.74087905883789,
                "transform": {
                    "location": {
                        "x": 2981.0126953125,
                        "y": 4263.8447265625,
                        "z": 361.1426086425781
                    },
                    "rotation": {
                        "roll": 0.00305538740940392,
                        "pitch": -0.26153475046157837,
                        "yaw": -170.48020935058594
                    }
                },
                "velocity": {
                    "x": -9.606629371643066,
                    "y": -1.6092363595962524,
                    "z": -0.08806433528661728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.066319465637207,
                "transform": {
                    "location": {
                        "x": 2904.847412109375,
                        "y": 4254.986328125,
                        "z": 360.54046630859375
                    },
                    "rotation": {
                        "roll": 0.00028044142527505755,
                        "pitch": 0.39892399311065674,
                        "yaw": 9.20447063446045
                    }
                },
                "velocity": {
                    "x": 7.962246417999268,
                    "y": 1.2903034687042236,
                    "z": 0.05707428976893425
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051898956298828,
                "transform": {
                    "location": {
                        "x": 2904.44189453125,
                        "y": 4258.21484375,
                        "z": 360.55120849609375
                    },
                    "rotation": {
                        "roll": 0.0008424284751527011,
                        "pitch": 0.40219566226005554,
                        "yaw": 9.200825691223145
                    }
                },
                "velocity": {
                    "x": 7.948109149932861,
                    "y": 1.2874118089675903,
                    "z": 0.056650493294000626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.295539348386228e-05,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0015563992783427238,
                        "pitch": -0.39343252778053284,
                        "yaw": -170.4474639892578
                    }
                },
                "velocity": {
                    "x": 6.898343599459622e-06,
                    "y": -5.534559750230983e-05,
                    "z": -7.436385203618556e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.920458793640137,
                "transform": {
                    "location": {
                        "x": 2946.979736328125,
                        "y": 4258.31005859375,
                        "z": 360.84515380859375
                    },
                    "rotation": {
                        "roll": 0.0010050766868516803,
                        "pitch": -0.4792128801345825,
                        "yaw": -170.808837890625
                    }
                },
                "velocity": {
                    "x": -9.792826652526855,
                    "y": -1.5844019651412964,
                    "z": -0.07558142393827438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002566683979239315,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -4.9700585805112496e-05,
                    "y": -3.047644167963881e-05,
                    "z": 0.0002499594120308757
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.721787452697754,
                "transform": {
                    "location": {
                        "x": 2924.85205078125,
                        "y": 4254.7294921875,
                        "z": 360.68963623046875
                    },
                    "rotation": {
                        "roll": 0.0007414903375320137,
                        "pitch": -0.6289101243019104,
                        "yaw": -170.83843994140625
                    }
                },
                "velocity": {
                    "x": -7.622651100158691,
                    "y": -1.2320570945739746,
                    "z": -0.05681765079498291
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4758095145225525,
        "expert_target_speed": 0,
        "target_point": [
            55.76134694309425,
            2.1898382636982188
        ],
        "target_point_next": [
            97.73990383973879,
            3.5316005598200615
        ]
    },
    "400": {
        "acceleration": [
            -0.9942681789398193,
            -0.08100399374961853,
            -0.009233662858605385
        ],
        "angular_velocity": [
            0.00966690480709076,
            0.40313899517059326,
            -0.5755481123924255
        ],
        "forward_vector": [
            -0.9917690753936768,
            -0.12780360877513885,
            -0.00776736019179225
        ],
        "right_vector": [
            0.12780950963497162,
            -0.9917986989021301,
            -0.0002661692560650408
        ],
        "location": [
            2945.248046875,
            4255.2529296875,
            360.8348388671875
        ],
        "rotation": [
            0.01525083463639021,
            -0.4450414478778839,
            -172.65708923339844
        ],
        "velocity": [
            -0.15288926661014557,
            -0.015446835197508335,
            -0.0020374010782688856
        ],
        "speed": 0.15366760414025837,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.203753471374512,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.056083679199219,
                "transform": {
                    "location": {
                        "x": 2948.244384765625,
                        "y": 4265.30224609375,
                        "z": 360.87738037109375
                    },
                    "rotation": {
                        "roll": -0.00012206647807033733,
                        "pitch": 0.43547916412353516,
                        "yaw": 9.191802978515625
                    }
                },
                "velocity": {
                    "x": 7.9524149894714355,
                    "y": 1.2868256568908691,
                    "z": 0.06044529750943184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006305694580078,
                "transform": {
                    "location": {
                        "x": 2948.69580078125,
                        "y": 4262.08251953125,
                        "z": 360.90728759765625
                    },
                    "rotation": {
                        "roll": 0.0007950470317155123,
                        "pitch": 0.44250062108039856,
                        "yaw": 9.187895774841309
                    }
                },
                "velocity": {
                    "x": 7.903384685516357,
                    "y": 1.2782363891601562,
                    "z": 0.05961180478334427
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054986953735352,
                "transform": {
                    "location": {
                        "x": 2988.998046875,
                        "y": 4271.89599609375,
                        "z": 361.2296447753906
                    },
                    "rotation": {
                        "roll": 0.0015032582450658083,
                        "pitch": 0.5248317122459412,
                        "yaw": 9.188287734985352
                    }
                },
                "velocity": {
                    "x": 7.951305866241455,
                    "y": 1.2861536741256714,
                    "z": 0.0732455626130104
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995414733886719,
                "transform": {
                    "location": {
                        "x": 2989.500244140625,
                        "y": 4268.68603515625,
                        "z": 361.2295227050781
                    },
                    "rotation": {
                        "roll": 0.0003947234945371747,
                        "pitch": 0.5254600644111633,
                        "yaw": 9.187917709350586
                    }
                },
                "velocity": {
                    "x": 7.892512798309326,
                    "y": 1.2765672206878662,
                    "z": 0.07261096686124802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6180121302604675,
                "transform": {
                    "location": {
                        "x": 2968.18994140625,
                        "y": 4258.44873046875,
                        "z": 361.0301818847656
                    },
                    "rotation": {
                        "roll": 0.008692852221429348,
                        "pitch": -0.8073078393936157,
                        "yaw": -171.1258087158203
                    }
                },
                "velocity": {
                    "x": -0.6100807189941406,
                    "y": -0.09856894612312317,
                    "z": -0.004968566820025444
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2866.713623046875,
                        "y": 4248.71484375,
                        "z": 360.4090881347656
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2866.1943359375,
                        "y": 4251.92333984375,
                        "z": 360.4090881347656
                    },
                    "rotation": {
                        "roll": 3.3351394979064253e-09,
                        "pitch": 0.4119628369808197,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016876489389687777,
                "transform": {
                    "location": {
                        "x": 2955.18359375,
                        "y": 4256.34521484375,
                        "z": 360.9046325683594
                    },
                    "rotation": {
                        "roll": -0.0041503929533064365,
                        "pitch": -0.4633190333843231,
                        "yaw": -170.6697998046875
                    }
                },
                "velocity": {
                    "x": -4.951774826622568e-05,
                    "y": 0.00020955849322490394,
                    "z": 0.0016738554695621133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.100203514099121,
                "transform": {
                    "location": {
                        "x": 2978.46240234375,
                        "y": 4263.42138671875,
                        "z": 361.1194152832031
                    },
                    "rotation": {
                        "roll": 0.013306413777172565,
                        "pitch": -0.2297675460577011,
                        "yaw": -170.60330200195312
                    }
                },
                "velocity": {
                    "x": -10.951594352722168,
                    "y": -1.8075472116470337,
                    "z": -0.09930899739265442
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01491641998291,
                "transform": {
                    "location": {
                        "x": 2906.83056640625,
                        "y": 4255.3076171875,
                        "z": 360.5544128417969
                    },
                    "rotation": {
                        "roll": 0.0002721870259847492,
                        "pitch": 0.4010891914367676,
                        "yaw": 9.204307556152344
                    }
                },
                "velocity": {
                    "x": 7.91152286529541,
                    "y": 1.2820069789886475,
                    "z": 0.056220293045043945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039700508117676,
                "transform": {
                    "location": {
                        "x": 2906.427001953125,
                        "y": 4258.53662109375,
                        "z": 360.565185546875
                    },
                    "rotation": {
                        "roll": 0.001462586922571063,
                        "pitch": 0.4024483859539032,
                        "yaw": 9.193183898925781
                    }
                },
                "velocity": {
                    "x": 7.936234951019287,
                    "y": 1.2844622135162354,
                    "z": 0.05581855773925781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.742048572050408e-05,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.3931320011615753,
                        "yaw": -170.4474639892578
                    }
                },
                "velocity": {
                    "x": -6.798952654207824e-06,
                    "y": -1.5244101632561069e-05,
                    "z": 6.532161933137104e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.47451400756836,
                "transform": {
                    "location": {
                        "x": 2944.704345703125,
                        "y": 4257.94189453125,
                        "z": 360.828125
                    },
                    "rotation": {
                        "roll": -0.0001831084955483675,
                        "pitch": -0.5155016779899597,
                        "yaw": -170.8186492919922
                    }
                },
                "velocity": {
                    "x": -8.365561485290527,
                    "y": -1.3530433177947998,
                    "z": -0.06353934109210968
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010300427675247192,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -1.4160498722048942e-05,
                    "y": -1.1630831068032421e-05,
                    "z": -0.00010136116179637611
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.6030449867248535,
                "transform": {
                    "location": {
                        "x": 2922.99609375,
                        "y": 4254.4296875,
                        "z": 360.6761779785156
                    },
                    "rotation": {
                        "roll": 1.4061081856198143e-05,
                        "pitch": -0.482723593711853,
                        "yaw": -170.79562377929688
                    }
                },
                "velocity": {
                    "x": -7.505171775817871,
                    "y": -1.214834451675415,
                    "z": -0.053508758544921875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.48593196272850037,
        "expert_target_speed": 0,
        "target_point": [
            55.73491844745806,
            2.208241882095397
        ],
        "target_point_next": [
            97.71305099584866,
            3.563215289164628
        ]
    },
    "405": {
        "acceleration": [
            -1.581001877784729,
            -0.15443138778209686,
            0.013706204481422901
        ],
        "angular_velocity": [
            0.010588157922029495,
            0.30301961302757263,
            0.10200235992670059
        ],
        "forward_vector": [
            -0.9918675422668457,
            -0.12712542712688446,
            -0.00616045854985714
        ],
        "right_vector": [
            0.12713013589382172,
            -0.9918859601020813,
            -0.0003768776368815452
        ],
        "location": [
            2945.184326171875,
            4255.24560546875,
            360.833984375
        ],
        "rotation": [
            0.021593905985355377,
            -0.35297051072120667,
            -172.69635009765625
        ],
        "velocity": [
            -0.4353773295879364,
            -0.04688628017902374,
            -0.0018717956263571978
        ],
        "speed": 0.437894670426746,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.140342712402344,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996074199676514,
                "transform": {
                    "location": {
                        "x": 2950.224609375,
                        "y": 4265.62255859375,
                        "z": 360.89276123046875
                    },
                    "rotation": {
                        "roll": -6.1033275414956734e-05,
                        "pitch": 0.44045838713645935,
                        "yaw": 9.191960334777832
                    }
                },
                "velocity": {
                    "x": 7.89316463470459,
                    "y": 1.2772809267044067,
                    "z": 0.06088849902153015
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042842864990234,
                "transform": {
                    "location": {
                        "x": 2950.676513671875,
                        "y": 4262.40283203125,
                        "z": 360.9227294921875
                    },
                    "rotation": {
                        "roll": 0.0020151669159531593,
                        "pitch": 0.4458064138889313,
                        "yaw": 9.189075469970703
                    }
                },
                "velocity": {
                    "x": 7.939623832702637,
                    "y": 1.2829447984695435,
                    "z": 0.06120781600475311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995179176330566,
                "transform": {
                    "location": {
                        "x": 2990.978271484375,
                        "y": 4272.21630859375,
                        "z": 361.24810791015625
                    },
                    "rotation": {
                        "roll": -3.0520350264851004e-05,
                        "pitch": 0.5249205231666565,
                        "yaw": 9.188034057617188
                    }
                },
                "velocity": {
                    "x": 7.892264366149902,
                    "y": 1.2766026258468628,
                    "z": 0.07304544001817703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054082870483398,
                "transform": {
                    "location": {
                        "x": 2991.48095703125,
                        "y": 4269.005859375,
                        "z": 361.24798583984375
                    },
                    "rotation": {
                        "roll": -6.104070052970201e-05,
                        "pitch": 0.5244697332382202,
                        "yaw": 9.182158470153809
                    }
                },
                "velocity": {
                    "x": 7.950562000274658,
                    "y": 1.2851240634918213,
                    "z": 0.072593092918396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7752646207809448,
                "transform": {
                    "location": {
                        "x": 2967.87841796875,
                        "y": 4258.3994140625,
                        "z": 361.0237731933594
                    },
                    "rotation": {
                        "roll": 0.0004514478496275842,
                        "pitch": -0.34936416149139404,
                        "yaw": -171.0089569091797
                    }
                },
                "velocity": {
                    "x": -1.7524738311767578,
                    "y": -0.28315863013267517,
                    "z": -0.014863939024508
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2868.768798828125,
                        "y": 4249.046875,
                        "z": 360.3721008300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2868.24951171875,
                        "y": 4252.25537109375,
                        "z": 360.3721008300781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008159545832313597,
                "transform": {
                    "location": {
                        "x": 2955.18359375,
                        "y": 4256.34521484375,
                        "z": 360.9046325683594
                    },
                    "rotation": {
                        "roll": -0.0032043480314314365,
                        "pitch": -0.4579436779022217,
                        "yaw": -170.6697998046875
                    }
                },
                "velocity": {
                    "x": -7.861777703510597e-06,
                    "y": -7.409686804749072e-05,
                    "z": 0.0008125451859086752
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.256617546081543,
                "transform": {
                    "location": {
                        "x": 2975.57080078125,
                        "y": 4262.94580078125,
                        "z": 361.09332275390625
                    },
                    "rotation": {
                        "roll": 0.008524353615939617,
                        "pitch": -0.25452014803886414,
                        "yaw": -170.6786651611328
                    }
                },
                "velocity": {
                    "x": -12.094383239746094,
                    "y": -1.9846892356872559,
                    "z": -0.10753244161605835
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072454452514648,
                "transform": {
                    "location": {
                        "x": 2908.816162109375,
                        "y": 4255.62841796875,
                        "z": 360.5684814453125
                    },
                    "rotation": {
                        "roll": -0.00012206930114189163,
                        "pitch": 0.4033704698085785,
                        "yaw": 9.204191207885742
                    }
                },
                "velocity": {
                    "x": 7.968327045440674,
                    "y": 1.2911262512207031,
                    "z": 0.05736861005425453
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054750442504883,
                "transform": {
                    "location": {
                        "x": 2908.4130859375,
                        "y": 4258.85791015625,
                        "z": 360.5792541503906
                    },
                    "rotation": {
                        "roll": 0.0012906076153740287,
                        "pitch": 0.4040193259716034,
                        "yaw": 9.187324523925781
                    }
                },
                "velocity": {
                    "x": 7.951347351074219,
                    "y": 1.2852227687835693,
                    "z": 0.0572734996676445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012576037261169404,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.39281782507896423,
                        "yaw": -170.44747924804688
                    }
                },
                "velocity": {
                    "x": -2.4393870262429118e-05,
                    "y": 3.110973921138793e-05,
                    "z": -0.00011938507668673992
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.450222969055176,
                "transform": {
                    "location": {
                        "x": 2942.65771484375,
                        "y": 4257.611328125,
                        "z": 360.8121643066406
                    },
                    "rotation": {
                        "roll": 8.222495671361685e-05,
                        "pitch": -0.45165306329727173,
                        "yaw": -170.7967071533203
                    }
                },
                "velocity": {
                    "x": -8.341217041015625,
                    "y": -1.3515491485595703,
                    "z": -0.06061004102230072
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007037607138045132,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -5.524158405023627e-05,
                    "y": 2.0043662516400218e-05,
                    "z": -0.0007013028953224421
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.598637580871582,
                "transform": {
                    "location": {
                        "x": 2921.001220703125,
                        "y": 4254.10693359375,
                        "z": 360.6619873046875
                    },
                    "rotation": {
                        "roll": 0.0005063284770585597,
                        "pitch": -0.3097149133682251,
                        "yaw": -170.8145294189453
                    }
                },
                "velocity": {
                    "x": -8.487892150878906,
                    "y": -1.3742316961288452,
                    "z": -0.061215318739414215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.48426637053489685,
        "expert_target_speed": 10.0,
        "target_point": [
            55.669257435753536,
            2.2472676522359967
        ],
        "target_point_next": [
            97.6464516813412,
            3.6310047849014975
        ]
    },
    "410": {
        "acceleration": [
            -1.2335491180419922,
            -0.13515591621398926,
            0.011742403730750084
        ],
        "angular_velocity": [
            0.02638610079884529,
            0.03211475536227226,
            -0.4924950897693634
        ],
        "forward_vector": [
            -0.99212646484375,
            -0.12513954937458038,
            -0.005012013949453831
        ],
        "right_vector": [
            0.12514352798461914,
            -0.9921385049819946,
            -0.0004868933465331793
        ],
        "location": [
            2945.012939453125,
            4255.2265625,
            360.83245849609375
        ],
        "rotation": [
            0.027897285297513008,
            -0.2871684432029724,
            -172.81109619140625
        ],
        "velocity": [
            -0.848476767539978,
            -0.08833789825439453,
            -0.005905237048864365
        ],
        "speed": 0.8530629574205492,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.970003128051758,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055511474609375,
                "transform": {
                    "location": {
                        "x": 2952.20556640625,
                        "y": 4265.94287109375,
                        "z": 360.9083557128906
                    },
                    "rotation": {
                        "roll": -0.0005798331112600863,
                        "pitch": 0.44475457072257996,
                        "yaw": 9.186540603637695
                    }
                },
                "velocity": {
                    "x": 7.951942443847656,
                    "y": 1.2859694957733154,
                    "z": 0.06451205909252167
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00520133972168,
                "transform": {
                    "location": {
                        "x": 2952.656494140625,
                        "y": 4262.72314453125,
                        "z": 360.9382629394531
                    },
                    "rotation": {
                        "roll": 0.0007725555333308876,
                        "pitch": 0.4497884213924408,
                        "yaw": 9.187318801879883
                    }
                },
                "velocity": {
                    "x": 7.902262210845947,
                    "y": 1.2780966758728027,
                    "z": 0.0630679503083229
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05539608001709,
                "transform": {
                    "location": {
                        "x": 2992.958984375,
                        "y": 4272.53662109375,
                        "z": 361.2666320800781
                    },
                    "rotation": {
                        "roll": -0.0003662142262328416,
                        "pitch": 0.5255352258682251,
                        "yaw": 9.188332557678223
                    }
                },
                "velocity": {
                    "x": 7.951709270477295,
                    "y": 1.2861995697021484,
                    "z": 0.0735846683382988
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995260715484619,
                "transform": {
                    "location": {
                        "x": 2993.461181640625,
                        "y": 4269.326171875,
                        "z": 361.2665100097656
                    },
                    "rotation": {
                        "roll": 5.0091268349206075e-05,
                        "pitch": 0.5255625247955322,
                        "yaw": 9.182177543640137
                    }
                },
                "velocity": {
                    "x": 7.8924880027771,
                    "y": 1.2757693529129028,
                    "z": 0.07238450646400452
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3777058124542236,
                "transform": {
                    "location": {
                        "x": 2967.397216796875,
                        "y": 4258.32568359375,
                        "z": 361.0191345214844
                    },
                    "rotation": {
                        "roll": -0.01852416805922985,
                        "pitch": -0.2835621237754822,
                        "yaw": -170.40626525878906
                    }
                },
                "velocity": {
                    "x": -2.3465514183044434,
                    "y": -0.3831590712070465,
                    "z": -0.019230389967560768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2870.823974609375,
                        "y": 4249.3798828125,
                        "z": 360.3351135253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2870.304931640625,
                        "y": 4252.58837890625,
                        "z": 360.3351135253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.403056263923645,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.042036294937134,
                "transform": {
                    "location": {
                        "x": 2989.876220703125,
                        "y": 4265.3525390625,
                        "z": 361.4187927246094
                    },
                    "rotation": {
                        "roll": 6.670390018115313e-09,
                        "pitch": -0.5282331705093384,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -0.5480472445487976,
                    "y": -0.088681660592556,
                    "z": -1.9651187658309937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.06959506124258041,
                "transform": {
                    "location": {
                        "x": 2955.18017578125,
                        "y": 4256.3447265625,
                        "z": 360.90460205078125
                    },
                    "rotation": {
                        "roll": -0.0022888153325766325,
                        "pitch": -0.4531556963920593,
                        "yaw": -170.67257690429688
                    }
                },
                "velocity": {
                    "x": -0.06860986351966858,
                    "y": -0.011654573492705822,
                    "z": 0.0005747032118961215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.290922164916992,
                "transform": {
                    "location": {
                        "x": 2972.413330078125,
                        "y": 4262.4296875,
                        "z": 361.0653381347656
                    },
                    "rotation": {
                        "roll": 0.009549558162689209,
                        "pitch": -0.2702295780181885,
                        "yaw": -170.740234375
                    }
                },
                "velocity": {
                    "x": -13.11717414855957,
                    "y": -2.1389377117156982,
                    "z": -0.11529578268527985
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.015990257263184,
                "transform": {
                    "location": {
                        "x": 2910.80126953125,
                        "y": 4255.94970703125,
                        "z": 360.58258056640625
                    },
                    "rotation": {
                        "roll": -0.0003356915258336812,
                        "pitch": 0.40540584921836853,
                        "yaw": 9.204126358032227
                    }
                },
                "velocity": {
                    "x": 7.912598609924316,
                    "y": 1.2820947170257568,
                    "z": 0.05579621344804764
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039831161499023,
                "transform": {
                    "location": {
                        "x": 2910.39892578125,
                        "y": 4259.17919921875,
                        "z": 360.5933532714844
                    },
                    "rotation": {
                        "roll": -0.00021362553525250405,
                        "pitch": 0.40686750411987305,
                        "yaw": 9.185711860656738
                    }
                },
                "velocity": {
                    "x": 7.936525821685791,
                    "y": 1.2834346294403076,
                    "z": 0.05692320689558983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032563594868406653,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002655031392350793,
                        "pitch": -0.39278367161750793,
                        "yaw": -170.44757080078125
                    }
                },
                "velocity": {
                    "x": -9.153038263320923e-06,
                    "y": -3.321637268527411e-05,
                    "z": 0.0003238080826122314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.522683143615723,
                "transform": {
                    "location": {
                        "x": 2940.442138671875,
                        "y": 4257.25244140625,
                        "z": 360.79510498046875
                    },
                    "rotation": {
                        "roll": 0.00021227059187367558,
                        "pitch": -0.3718559741973877,
                        "yaw": -170.81495666503906
                    }
                },
                "velocity": {
                    "x": -9.400005340576172,
                    "y": -1.5220332145690918,
                    "z": -0.06943576782941818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004768852377310395,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": -2.776108703983482e-05,
                    "y": -7.420728798024356e-05,
                    "z": -0.00047025750973261893
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.832757949829102,
                "transform": {
                    "location": {
                        "x": 2918.721923828125,
                        "y": 4253.7373046875,
                        "z": 360.6455383300781
                    },
                    "rotation": {
                        "roll": 8.24765520519577e-05,
                        "pitch": -0.2346511334180832,
                        "yaw": -170.7855682373047
                    }
                },
                "velocity": {
                    "x": -9.705975532531738,
                    "y": -1.5723541975021362,
                    "z": -0.06969171017408371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4923495054244995,
        "expert_target_speed": 10.0,
        "target_point": [
            55.492222660951754,
            2.3613070601607182
        ],
        "target_point_next": [
            97.46656149326664,
            3.8291097628895283
        ]
    },
    "415": {
        "acceleration": [
            -1.7588376998901367,
            0.020803362131118774,
            -0.012621302157640457
        ],
        "angular_velocity": [
            0.1391851305961609,
            0.20028309524059296,
            -1.552225947380066
        ],
        "forward_vector": [
            -0.9928660988807678,
            -0.11916515976190567,
            -0.004065501969307661
        ],
        "right_vector": [
            0.11916991323232651,
            -0.9928733706474304,
            -0.0009475349797867239
        ],
        "location": [
            2944.72998046875,
            4255.19921875,
            360.8302001953125
        ],
        "rotation": [
            0.05429021269083023,
            -0.23293675482273102,
            -173.15602111816406
        ],
        "velocity": [
            -1.391174554824829,
            -0.11697333306074142,
            -0.010409717448055744
        ],
        "speed": 1.396083594431007,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.690000534057617,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996006965637207,
                "transform": {
                    "location": {
                        "x": 2954.186279296875,
                        "y": 4266.26318359375,
                        "z": 360.9241638183594
                    },
                    "rotation": {
                        "roll": 0.0003566584491636604,
                        "pitch": 0.45410510897636414,
                        "yaw": 9.189909934997559
                    }
                },
                "velocity": {
                    "x": 7.893089294433594,
                    "y": 1.2771897315979004,
                    "z": 0.0636659786105156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042473793029785,
                "transform": {
                    "location": {
                        "x": 2954.63671875,
                        "y": 4263.04345703125,
                        "z": 360.95404052734375
                    },
                    "rotation": {
                        "roll": -0.0005493142525665462,
                        "pitch": 0.45955559611320496,
                        "yaw": 9.187219619750977
                    }
                },
                "velocity": {
                    "x": 7.939059734344482,
                    "y": 1.2839813232421875,
                    "z": 0.06411468237638474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994954586029053,
                "transform": {
                    "location": {
                        "x": 2994.939208984375,
                        "y": 4272.85693359375,
                        "z": 361.28509521484375
                    },
                    "rotation": {
                        "roll": 0.0008190901717171073,
                        "pitch": 0.525924563407898,
                        "yaw": 9.188138008117676
                    }
                },
                "velocity": {
                    "x": 7.892049312591553,
                    "y": 1.276528000831604,
                    "z": 0.07300477474927902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054364204406738,
                "transform": {
                    "location": {
                        "x": 2995.442138671875,
                        "y": 4269.646484375,
                        "z": 361.2850036621094
                    },
                    "rotation": {
                        "roll": -9.155771840596572e-05,
                        "pitch": 0.5250434279441833,
                        "yaw": 9.185310363769531
                    }
                },
                "velocity": {
                    "x": 7.95074462890625,
                    "y": 1.2857469320297241,
                    "z": 0.07276193797588348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005972603801637888,
                "transform": {
                    "location": {
                        "x": 2967.052978515625,
                        "y": 4258.267578125,
                        "z": 361.0211181640625
                    },
                    "rotation": {
                        "roll": -0.007659904193133116,
                        "pitch": -0.8789633512496948,
                        "yaw": -170.58164978027344
                    }
                },
                "velocity": {
                    "x": -0.005783455446362495,
                    "y": -0.0013747219927608967,
                    "z": -0.000577735947445035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2872.8798828125,
                        "y": 4249.71240234375,
                        "z": 360.33697509765625
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2872.36083984375,
                        "y": 4252.9208984375,
                        "z": 360.33697509765625
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5619816780090332,
                "transform": {
                    "location": {
                        "x": 2989.73779296875,
                        "y": 4265.32958984375,
                        "z": 361.1527404785156
                    },
                    "rotation": {
                        "roll": -0.0007019017357379198,
                        "pitch": -0.5279189348220825,
                        "yaw": -170.773193359375
                    }
                },
                "velocity": {
                    "x": -0.5405505299568176,
                    "y": -0.0932527408003807,
                    "z": 0.12219829112291336
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9264485239982605,
                "transform": {
                    "location": {
                        "x": 2955.07373046875,
                        "y": 4256.32763671875,
                        "z": 360.9034729003906
                    },
                    "rotation": {
                        "roll": -0.0021667496766895056,
                        "pitch": -0.41091781854629517,
                        "yaw": -170.69491577148438
                    }
                },
                "velocity": {
                    "x": -0.9144277572631836,
                    "y": -0.14861975610256195,
                    "z": -0.006399860139936209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.817732810974121,
                "transform": {
                    "location": {
                        "x": 2969.033447265625,
                        "y": 4261.87939453125,
                        "z": 361.0359802246094
                    },
                    "rotation": {
                        "roll": 0.007621732074767351,
                        "pitch": -0.3530524671077728,
                        "yaw": -170.7674102783203
                    }
                },
                "velocity": {
                    "x": -13.638376235961914,
                    "y": -2.2159292697906494,
                    "z": -0.11872349679470062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068672180175781,
                "transform": {
                    "location": {
                        "x": 2912.785888671875,
                        "y": 4256.27099609375,
                        "z": 360.59674072265625
                    },
                    "rotation": {
                        "roll": -0.0006103499908931553,
                        "pitch": 0.4050370156764984,
                        "yaw": 9.204105377197266
                    }
                },
                "velocity": {
                    "x": 7.964591979980469,
                    "y": 1.290527105331421,
                    "z": 0.057318925857543945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05251407623291,
                "transform": {
                    "location": {
                        "x": 2912.385009765625,
                        "y": 4259.5,
                        "z": 360.6075439453125
                    },
                    "rotation": {
                        "roll": -0.00036620808532461524,
                        "pitch": 0.40741392970085144,
                        "yaw": 9.185834884643555
                    }
                },
                "velocity": {
                    "x": 7.9490532875061035,
                    "y": 1.285462498664856,
                    "z": 0.055927541106939316
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1285489714937285e-05,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.002349857008084655,
                        "pitch": -0.3930363953113556,
                        "yaw": -170.44757080078125
                    }
                },
                "velocity": {
                    "x": -1.2083351066394243e-05,
                    "y": -5.2546151891874615e-06,
                    "z": 3.912637475878e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.57351016998291,
                "transform": {
                    "location": {
                        "x": 2937.942626953125,
                        "y": 4256.84765625,
                        "z": 360.77630615234375
                    },
                    "rotation": {
                        "roll": -0.00027466024039313197,
                        "pitch": -0.3541862666606903,
                        "yaw": -170.79342651367188
                    }
                },
                "velocity": {
                    "x": -10.437376022338867,
                    "y": -1.6894893646240234,
                    "z": -0.07698014378547668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012429311173036695,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": 3.809183681369177e-06,
                    "y": 1.7620044673094526e-05,
                    "z": -0.0012428003828972578
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.712658882141113,
                "transform": {
                    "location": {
                        "x": 2916.1494140625,
                        "y": 4253.3212890625,
                        "z": 360.62701416015625
                    },
                    "rotation": {
                        "roll": 0.0014531757915392518,
                        "pitch": -0.25833138823509216,
                        "yaw": -170.81195068359375
                    }
                },
                "velocity": {
                    "x": -10.574615478515625,
                    "y": -1.712543249130249,
                    "z": -0.07587655633687973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5049084424972534,
        "expert_target_speed": 10.0,
        "target_point": [
            55.19279951662198,
            2.7019258417129537
        ],
        "target_point_next": [
            97.15754070961215,
            4.422408852227695
        ]
    },
    "420": {
        "acceleration": [
            -2.7910494804382324,
            -0.08540794253349304,
            -0.04864310845732689
        ],
        "angular_velocity": [
            0.1290934532880783,
            0.2225753664970398,
            -3.1852869987487793
        ],
        "forward_vector": [
            -0.9941339492797852,
            -0.10809061676263809,
            -0.0037661700043827295
        ],
        "right_vector": [
            0.1080968901515007,
            -0.9941392540931702,
            -0.0015018789563328028
        ],
        "location": [
            2944.32275390625,
            4255.16796875,
            360.82708740234375
        ],
        "rotation": [
            0.08605197072029114,
            -0.2157861590385437,
            -173.79469299316406
        ],
        "velocity": [
            -1.901686668395996,
            -0.12047253549098969,
            -0.014262027107179165
        ],
        "speed": 1.9054988366731402,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.289600372314453,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055359840393066,
                "transform": {
                    "location": {
                        "x": 2956.167236328125,
                        "y": 4266.58349609375,
                        "z": 360.9401550292969
                    },
                    "rotation": {
                        "roll": 0.0001656372332945466,
                        "pitch": 0.45245903730392456,
                        "yaw": 9.190412521362305
                    }
                },
                "velocity": {
                    "x": 7.951699733734131,
                    "y": 1.2865287065505981,
                    "z": 0.06422572582960129
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006694793701172,
                "transform": {
                    "location": {
                        "x": 2956.6171875,
                        "y": 4263.36376953125,
                        "z": 360.97003173828125
                    },
                    "rotation": {
                        "roll": -0.0005493175121955574,
                        "pitch": 0.45792317390441895,
                        "yaw": 9.187888145446777
                    }
                },
                "velocity": {
                    "x": 7.903677940368652,
                    "y": 1.2786632776260376,
                    "z": 0.06372129172086716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05496597290039,
                "transform": {
                    "location": {
                        "x": 2996.919921875,
                        "y": 4273.17724609375,
                        "z": 361.3036193847656
                    },
                    "rotation": {
                        "roll": 0.0016179686645045877,
                        "pitch": 0.5243057608604431,
                        "yaw": 9.188253402709961
                    }
                },
                "velocity": {
                    "x": 7.9512858390808105,
                    "y": 1.2861521244049072,
                    "z": 0.07300738990306854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994913578033447,
                "transform": {
                    "location": {
                        "x": 2997.422119140625,
                        "y": 4269.966796875,
                        "z": 361.303466796875
                    },
                    "rotation": {
                        "roll": 0.0007317547569982708,
                        "pitch": 0.5252619981765747,
                        "yaw": 9.185759544372559
                    }
                },
                "velocity": {
                    "x": 7.892046928405762,
                    "y": 1.2762835025787354,
                    "z": 0.07307174801826477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4034368991851807,
                "transform": {
                    "location": {
                        "x": 2966.819091796875,
                        "y": 4258.2294921875,
                        "z": 361.0157775878906
                    },
                    "rotation": {
                        "roll": 0.0018748443108052015,
                        "pitch": -0.4741790294647217,
                        "yaw": -170.5877685546875
                    }
                },
                "velocity": {
                    "x": -1.3852221965789795,
                    "y": -0.22509242594242096,
                    "z": -0.011307820677757263
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2874.936279296875,
                        "y": 4250.04541015625,
                        "z": 360.3475036621094
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2874.41748046875,
                        "y": 4253.25341796875,
                        "z": 360.3475036621094
                    },
                    "rotation": {
                        "roll": 6.6702643408689255e-09,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6360625624656677,
                "transform": {
                    "location": {
                        "x": 2989.591796875,
                        "y": 4265.30517578125,
                        "z": 361.2037048339844
                    },
                    "rotation": {
                        "roll": -0.0009765650611370802,
                        "pitch": -0.5279530882835388,
                        "yaw": -170.72848510742188
                    }
                },
                "velocity": {
                    "x": -0.613408625125885,
                    "y": -0.1059294193983078,
                    "z": 0.13070736825466156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.040055751800537,
                "transform": {
                    "location": {
                        "x": 2954.814697265625,
                        "y": 4256.28564453125,
                        "z": 360.9019470214844
                    },
                    "rotation": {
                        "roll": -0.0005187989445403218,
                        "pitch": -0.4322211742401123,
                        "yaw": -170.7095947265625
                    }
                },
                "velocity": {
                    "x": -1.0265083312988281,
                    "y": -0.1670553982257843,
                    "z": -0.009444999508559704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.94267463684082,
                "transform": {
                    "location": {
                        "x": 2965.465576171875,
                        "y": 4261.30029296875,
                        "z": 361.00531005859375
                    },
                    "rotation": {
                        "roll": 0.00685599772259593,
                        "pitch": -0.2890877425670624,
                        "yaw": -170.80145263671875
                    }
                },
                "velocity": {
                    "x": -14.75001049041748,
                    "y": -2.3885722160339355,
                    "z": -0.12433120608329773
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018508911132812,
                "transform": {
                    "location": {
                        "x": 2914.7705078125,
                        "y": 4256.59228515625,
                        "z": 360.6109619140625
                    },
                    "rotation": {
                        "roll": 0.0001117270949180238,
                        "pitch": 0.4064440429210663,
                        "yaw": 9.202218055725098
                    }
                },
                "velocity": {
                    "x": 7.915342807769775,
                    "y": 1.2808558940887451,
                    "z": 0.056962478905916214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041435241699219,
                "transform": {
                    "location": {
                        "x": 2914.370849609375,
                        "y": 4259.8212890625,
                        "z": 360.6217346191406
                    },
                    "rotation": {
                        "roll": 0.0005962160066701472,
                        "pitch": 0.40903952717781067,
                        "yaw": 9.182819366455078
                    }
                },
                "velocity": {
                    "x": 7.938169002532959,
                    "y": 1.2833325862884521,
                    "z": 0.05674384906888008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001251994544873014,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5193786621094
                    },
                    "rotation": {
                        "roll": -0.0019531266298145056,
                        "pitch": -0.3931661546230316,
                        "yaw": -170.4475860595703
                    }
                },
                "velocity": {
                    "x": -2.766653778962791e-05,
                    "y": -3.756214937311597e-05,
                    "z": -0.00011618326243478805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.549598693847656,
                "transform": {
                    "location": {
                        "x": 2935.339599609375,
                        "y": 4256.42578125,
                        "z": 360.75732421875
                    },
                    "rotation": {
                        "roll": 0.0001764420885592699,
                        "pitch": -0.4063347578048706,
                        "yaw": -170.8144073486328
                    }
                },
                "velocity": {
                    "x": -10.414064407348633,
                    "y": -1.6838648319244385,
                    "z": -0.07675434648990631
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005566042964346707,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00029526607249863446,
                        "pitch": -0.39858248829841614,
                        "yaw": -170.80862426757812
                    }
                },
                "velocity": {
                    "x": 8.044316928135231e-06,
                    "y": 2.2885258658789098e-05,
                    "z": -0.0005560754216276109
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.037878036499023,
                "transform": {
                    "location": {
                        "x": 2913.34375,
                        "y": 4252.8671875,
                        "z": 360.60693359375
                    },
                    "rotation": {
                        "roll": 0.0018931941594928503,
                        "pitch": -0.21179048717021942,
                        "yaw": -170.8015594482422
                    }
                },
                "velocity": {
                    "x": -11.882840156555176,
                    "y": -1.923902988433838,
                    "z": -0.08496716618537903
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5073146224021912,
        "expert_target_speed": 10.0,
        "target_point": [
            54.751035847745186,
            3.3299051168834612
        ],
        "target_point_next": [
            96.69399305824645,
            5.5180334545676395
        ]
    },
    "425": {
        "acceleration": [
            -3.2065773010253906,
            -0.041758716106414795,
            -0.016676709055900574
        ],
        "angular_velocity": [
            0.12052687257528305,
            0.34126967191696167,
            -4.267552852630615
        ],
        "forward_vector": [
            -0.9957645535469055,
            -0.09190096706151962,
            -0.0026646817568689585
        ],
        "right_vector": [
            0.09190627932548523,
            -0.995765745639801,
            -0.0019456441514194012
        ],
        "location": [
            2943.7587890625,
            4255.1328125,
            360.82269287109375
        ],
        "rotation": [
            0.11147767305374146,
            -0.15267521142959595,
            -174.7270050048828
        ],
        "velocity": [
            -2.6226918697357178,
            -0.13007520139217377,
            -0.01909821853041649
        ],
        "speed": 2.6259154978016808,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.738314628601074,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.996331214904785,
                "transform": {
                    "location": {
                        "x": 2958.1474609375,
                        "y": 4266.90380859375,
                        "z": 360.9563293457031
                    },
                    "rotation": {
                        "roll": 0.0002606028283480555,
                        "pitch": 0.4608396589756012,
                        "yaw": 9.190343856811523
                    }
                },
                "velocity": {
                    "x": 7.893424987792969,
                    "y": 1.2771003246307373,
                    "z": 0.06457370519638062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0413818359375,
                "transform": {
                    "location": {
                        "x": 2958.597412109375,
                        "y": 4263.68408203125,
                        "z": 360.9862060546875
                    },
                    "rotation": {
                        "roll": -0.0005798348574899137,
                        "pitch": 0.46599647402763367,
                        "yaw": 9.192859649658203
                    }
                },
                "velocity": {
                    "x": 7.937862873077393,
                    "y": 1.2845011949539185,
                    "z": 0.0649101659655571
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995119094848633,
                "transform": {
                    "location": {
                        "x": 2998.89990234375,
                        "y": 4273.49755859375,
                        "z": 361.3220520019531
                    },
                    "rotation": {
                        "roll": 0.0006655744509771466,
                        "pitch": 0.5250024795532227,
                        "yaw": 9.191696166992188
                    }
                },
                "velocity": {
                    "x": 7.892127513885498,
                    "y": 1.27707040309906,
                    "z": 0.07313047349452972
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05466365814209,
                "transform": {
                    "location": {
                        "x": 2999.40283203125,
                        "y": 4270.28759765625,
                        "z": 361.3219909667969
                    },
                    "rotation": {
                        "roll": 3.591002314351499e-05,
                        "pitch": 0.5245926380157471,
                        "yaw": 9.192611694335938
                    }
                },
                "velocity": {
                    "x": 7.9508867263793945,
                    "y": 1.2867475748062134,
                    "z": 0.07271459698677063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.44047474861145,
                "transform": {
                    "location": {
                        "x": 2966.31201171875,
                        "y": 4258.14697265625,
                        "z": 361.0089111328125
                    },
                    "rotation": {
                        "roll": 0.003091084538027644,
                        "pitch": -0.15115207433700562,
                        "yaw": -170.6574249267578
                    }
                },
                "velocity": {
                    "x": -2.4089114665985107,
                    "y": -0.3907025158405304,
                    "z": -0.020354684442281723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.838770389556885,
                "transform": {
                    "location": {
                        "x": 2876.63720703125,
                        "y": 4250.32763671875,
                        "z": 360.35260009765625
                    },
                    "rotation": {
                        "roll": -0.004302976652979851,
                        "pitch": 0.37324249744415283,
                        "yaw": 9.485115051269531
                    }
                },
                "velocity": {
                    "x": 6.737244606018066,
                    "y": 1.1736186742782593,
                    "z": 0.03057122230529785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.871623516082764,
                "transform": {
                    "location": {
                        "x": 2876.123046875,
                        "y": 4253.54248046875,
                        "z": 360.3572692871094
                    },
                    "rotation": {
                        "roll": -0.03472900390625,
                        "pitch": 0.23273184895515442,
                        "yaw": 9.613718032836914
                    }
                },
                "velocity": {
                    "x": 6.769270896911621,
                    "y": 1.1807830333709717,
                    "z": 0.04393092170357704
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2869033813476562,
                "transform": {
                    "location": {
                        "x": 2989.314697265625,
                        "y": 4265.2578125,
                        "z": 361.2142639160156
                    },
                    "rotation": {
                        "roll": -0.0025024404749274254,
                        "pitch": -0.49505892395973206,
                        "yaw": -170.6519317626953
                    }
                },
                "velocity": {
                    "x": -2.2536368370056152,
                    "y": -0.3884333372116089,
                    "z": -0.012929028831422329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2350211143493652,
                "transform": {
                    "location": {
                        "x": 2954.422119140625,
                        "y": 4256.22119140625,
                        "z": 360.89837646484375
                    },
                    "rotation": {
                        "roll": -0.0021667468827217817,
                        "pitch": -0.3875722289085388,
                        "yaw": -170.76516723632812
                    }
                },
                "velocity": {
                    "x": -2.2051494121551514,
                    "y": -0.3637615144252777,
                    "z": -0.01768270507454872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.44408893585205,
                "transform": {
                    "location": {
                        "x": 2961.7939453125,
                        "y": 4260.70654296875,
                        "z": 360.9744873046875
                    },
                    "rotation": {
                        "roll": 0.0029369229450821877,
                        "pitch": -0.5006392002105713,
                        "yaw": -170.8165283203125
                    }
                },
                "velocity": {
                    "x": -14.25835132598877,
                    "y": -2.305816650390625,
                    "z": -0.11971317231655121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068388938903809,
                "transform": {
                    "location": {
                        "x": 2916.755859375,
                        "y": 4256.9140625,
                        "z": 360.6252136230469
                    },
                    "rotation": {
                        "roll": 0.0012834180379286408,
                        "pitch": 0.4102621078491211,
                        "yaw": 9.20024299621582
                    }
                },
                "velocity": {
                    "x": 7.964391231536865,
                    "y": 1.2900278568267822,
                    "z": 0.05667303875088692
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052816390991211,
                "transform": {
                    "location": {
                        "x": 2916.356689453125,
                        "y": 4260.14208984375,
                        "z": 360.6360168457031
                    },
                    "rotation": {
                        "roll": -0.0006103471387177706,
                        "pitch": 0.41164180636405945,
                        "yaw": 9.18507194519043
                    }
                },
                "velocity": {
                    "x": 7.949244976043701,
                    "y": 1.28612220287323,
                    "z": 0.057019565254449844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007095953915268183,
                "transform": {
                    "location": {
                        "x": 2896.428955078125,
                        "y": 4246.92333984375,
                        "z": 360.5194091796875
                    },
                    "rotation": {
                        "roll": -0.001525876228697598,
                        "pitch": -0.3935827910900116,
                        "yaw": -170.44760131835938
                    }
                },
                "velocity": {
                    "x": -2.0942239643773064e-05,
                    "y": 8.539203122381878e-07,
                    "z": -0.0007092857849784195
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.424843788146973,
                "transform": {
                    "location": {
                        "x": 2932.63671875,
                        "y": 4255.98828125,
                        "z": 360.7370300292969
                    },
                    "rotation": {
                        "roll": -0.0003356935631018132,
                        "pitch": -0.37347471714019775,
                        "yaw": -170.80162048339844
                    }
                },
                "velocity": {
                    "x": -11.277844429016113,
                    "y": -1.8249021768569946,
                    "z": -0.08376120030879974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002816980704665184,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0006339321844279766,
                        "pitch": -0.398227334022522,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": -2.0829438653890975e-05,
                    "y": -1.178495608655794e-06,
                    "z": 0.0002809244324453175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.05230712890625,
                "transform": {
                    "location": {
                        "x": 2910.2392578125,
                        "y": 4252.36474609375,
                        "z": 360.5848083496094
                    },
                    "rotation": {
                        "roll": 0.0009367040474899113,
                        "pitch": -0.2326020747423172,
                        "yaw": -170.8062286376953
                    }
                },
                "velocity": {
                    "x": -12.884368896484375,
                    "y": -2.0850605964660645,
                    "z": -0.09101580083370209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4777126610279083,
        "expert_target_speed": 10.0,
        "target_point": [
            54.12479634083825,
            4.237159092147963
        ],
        "target_point_next": [
            96.02659703969934,
            7.107466284251364
        ]
    },
    "430": {
        "acceleration": [
            -3.2585716247558594,
            0.345086008310318,
            -0.03235217183828354
        ],
        "angular_velocity": [
            0.2612204849720001,
            0.14468538761138916,
            -6.0140533447265625
        ],
        "forward_vector": [
            -0.9975663423538208,
            -0.06970571726560593,
            -0.001570700784213841
        ],
        "right_vector": [
            0.06971006840467453,
            -0.9975630640983582,
            -0.0029079688247293234
        ],
        "location": [
            2942.993896484375,
            4255.10009765625,
            360.81683349609375
        ],
        "rotation": [
            0.16661480069160461,
            -0.08999456465244293,
            -176.00291442871094
        ],
        "velocity": [
            -3.451465606689453,
            -0.08774413913488388,
            -0.02560221590101719
        ],
        "speed": 3.4525807547561747,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.997352600097656,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05589771270752,
                "transform": {
                    "location": {
                        "x": 2960.12841796875,
                        "y": 4267.22412109375,
                        "z": 360.97259521484375
                    },
                    "rotation": {
                        "roll": -0.00042724452214315534,
                        "pitch": 0.46747177839279175,
                        "yaw": 9.190120697021484
                    }
                },
                "velocity": {
                    "x": 7.952225685119629,
                    "y": 1.2865883111953735,
                    "z": 0.06542152166366577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006653785705566,
                "transform": {
                    "location": {
                        "x": 2960.577392578125,
                        "y": 4264.00439453125,
                        "z": 361.00250244140625
                    },
                    "rotation": {
                        "roll": 0.0012584783835336566,
                        "pitch": 0.4718840718269348,
                        "yaw": 9.191313743591309
                    }
                },
                "velocity": {
                    "x": 7.903817653656006,
                    "y": 1.2774723768234253,
                    "z": 0.0650479719042778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055191993713379,
                "transform": {
                    "location": {
                        "x": 3000.880859375,
                        "y": 4273.81884765625,
                        "z": 361.3406066894531
                    },
                    "rotation": {
                        "roll": 5.437701111077331e-05,
                        "pitch": 0.5276457667350769,
                        "yaw": 9.194735527038574
                    }
                },
                "velocity": {
                    "x": 7.951333999633789,
                    "y": 1.2871549129486084,
                    "z": 0.0751514583826065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995045185089111,
                "transform": {
                    "location": {
                        "x": 3001.383056640625,
                        "y": 4270.60791015625,
                        "z": 361.3404846191406
                    },
                    "rotation": {
                        "roll": 0.0005829252768307924,
                        "pitch": 0.527543306350708,
                        "yaw": 9.19277572631836
                    }
                },
                "velocity": {
                    "x": 7.891997337341309,
                    "y": 1.2773805856704712,
                    "z": 0.0736435279250145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5166401267051697,
                "transform": {
                    "location": {
                        "x": 2966.107666015625,
                        "y": 4258.11474609375,
                        "z": 361.01318359375
                    },
                    "rotation": {
                        "roll": -0.007415772415697575,
                        "pitch": -0.9005125761032104,
                        "yaw": -170.57785034179688
                    }
                },
                "velocity": {
                    "x": -0.5099809169769287,
                    "y": -0.08256378024816513,
                    "z": -0.0044388482347130775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.575408458709717,
                "transform": {
                    "location": {
                        "x": 2878.288330078125,
                        "y": 4250.60986328125,
                        "z": 360.3624267578125
                    },
                    "rotation": {
                        "roll": 0.002980710007250309,
                        "pitch": 0.3917386531829834,
                        "yaw": 9.728071212768555
                    }
                },
                "velocity": {
                    "x": 6.480288505554199,
                    "y": 1.1135179996490479,
                    "z": 0.04398248717188835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.634293079376221,
                "transform": {
                    "location": {
                        "x": 2877.786865234375,
                        "y": 4253.828125,
                        "z": 360.3684997558594
                    },
                    "rotation": {
                        "roll": 1.337381218036171e-05,
                        "pitch": 0.3497534692287445,
                        "yaw": 9.704174041748047
                    }
                },
                "velocity": {
                    "x": 6.53917121887207,
                    "y": 1.1185561418533325,
                    "z": 0.043809134513139725
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.476895570755005,
                "transform": {
                    "location": {
                        "x": 2988.57763671875,
                        "y": 4265.1318359375,
                        "z": 361.20703125
                    },
                    "rotation": {
                        "roll": -0.004302979446947575,
                        "pitch": -0.4943554103374481,
                        "yaw": -170.49362182617188
                    }
                },
                "velocity": {
                    "x": -3.425973415374756,
                    "y": -0.5918347239494324,
                    "z": -0.03520550951361656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2076516151428223,
                "transform": {
                    "location": {
                        "x": 2954.046142578125,
                        "y": 4256.158203125,
                        "z": 360.8956298828125
                    },
                    "rotation": {
                        "roll": 0.002185454359278083,
                        "pitch": -0.4148246943950653,
                        "yaw": -170.93856811523438
                    }
                },
                "velocity": {
                    "x": -2.180300235748291,
                    "y": -0.3460078239440918,
                    "z": -0.017171410843729973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.229421615600586,
                "transform": {
                    "location": {
                        "x": 2958.397705078125,
                        "y": 4260.1572265625,
                        "z": 360.9465026855469
                    },
                    "rotation": {
                        "roll": 0.0005095104570500553,
                        "pitch": -0.6655267477035522,
                        "yaw": -170.81442260742188
                    }
                },
                "velocity": {
                    "x": -13.05918025970459,
                    "y": -2.11283278465271,
                    "z": -0.10651014000177383
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016709327697754,
                "transform": {
                    "location": {
                        "x": 2918.740478515625,
                        "y": 4257.2353515625,
                        "z": 360.6395263671875
                    },
                    "rotation": {
                        "roll": 0.0004242529103066772,
                        "pitch": 0.40934687852859497,
                        "yaw": 9.19653606414795
                    }
                },
                "velocity": {
                    "x": 7.913463115692139,
                    "y": 1.2812068462371826,
                    "z": 0.05692921578884125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041678428649902,
                "transform": {
                    "location": {
                        "x": 2918.342529296875,
                        "y": 4260.46337890625,
                        "z": 360.65032958984375
                    },
                    "rotation": {
                        "roll": -0.0007019001641310751,
                        "pitch": 0.4129805266857147,
                        "yaw": 9.18687915802002
                    }
                },
                "velocity": {
                    "x": 7.938343524932861,
                    "y": 1.2837921380996704,
                    "z": 0.05623682960867882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.15034307539463043,
                "transform": {
                    "location": {
                        "x": 2896.4150390625,
                        "y": 4246.9208984375,
                        "z": 360.5191650390625
                    },
                    "rotation": {
                        "roll": -0.0019836402498185635,
                        "pitch": -0.3817734122276306,
                        "yaw": -170.44496154785156
                    }
                },
                "velocity": {
                    "x": -0.14777477085590363,
                    "y": -0.02757423184812069,
                    "z": -0.002305526752024889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.314311981201172,
                "transform": {
                    "location": {
                        "x": 2929.732421875,
                        "y": 4255.5185546875,
                        "z": 360.7154235839844
                    },
                    "rotation": {
                        "roll": -0.000610350223723799,
                        "pitch": -0.36133065819740295,
                        "yaw": -170.81654357910156
                    }
                },
                "velocity": {
                    "x": -12.156097412109375,
                    "y": -1.9655840396881104,
                    "z": -0.08977145701646805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002537534455768764,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 5.1160950533812866e-06,
                        "pitch": -0.39843904972076416,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": -3.136262239422649e-05,
                    "y": 8.147282642312348e-05,
                    "z": -0.0002382632519584149
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.41024398803711,
                "transform": {
                    "location": {
                        "x": 2906.94091796875,
                        "y": 4251.8310546875,
                        "z": 360.5613708496094
                    },
                    "rotation": {
                        "roll": 0.001331403385847807,
                        "pitch": -0.31512442231178284,
                        "yaw": -170.80715942382812
                    }
                },
                "velocity": {
                    "x": -13.237679481506348,
                    "y": -2.1423757076263428,
                    "z": -0.09340853244066238
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2756105959415436,
        "expert_target_speed": 10.0,
        "target_point": [
            53.251715703918656,
            5.461983758198183
        ],
        "target_point_next": [
            95.07921438399558,
            9.264603822348498
        ]
    },
    "435": {
        "acceleration": [
            -2.548036575317383,
            0.4874334931373596,
            -0.015879347920417786
        ],
        "angular_velocity": [
            0.21014036238193512,
            -0.11073518544435501,
            -7.31753396987915
        ],
        "forward_vector": [
            -0.9991893768310547,
            -0.04022357240319252,
            -0.0016342393355444074
        ],
        "right_vector": [
            0.040229927748441696,
            -0.9991822242736816,
            -0.004063264932483435
        ],
        "location": [
            2942.036376953125,
            4255.08544921875,
            360.8097839355469
        ],
        "rotation": [
            0.23280887305736542,
            -0.09363505989313126,
            -177.69473266601562
        ],
        "velocity": [
            -4.15714168548584,
            0.01673455908894539,
            -0.03044375777244568
        ],
        "speed": 4.157175367803474,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.083559036254883,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99592924118042,
                "transform": {
                    "location": {
                        "x": 2962.108642578125,
                        "y": 4267.544921875,
                        "z": 360.9891052246094
                    },
                    "rotation": {
                        "roll": 0.000301085296086967,
                        "pitch": 0.4676220417022705,
                        "yaw": 9.194875717163086
                    }
                },
                "velocity": {
                    "x": 7.892910480499268,
                    "y": 1.2776877880096436,
                    "z": 0.06608373671770096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041828155517578,
                "transform": {
                    "location": {
                        "x": 2962.55810546875,
                        "y": 4264.3251953125,
                        "z": 361.0189514160156
                    },
                    "rotation": {
                        "roll": 0.00029560254188254476,
                        "pitch": 0.47378286719322205,
                        "yaw": 9.193225860595703
                    }
                },
                "velocity": {
                    "x": 7.938257217407227,
                    "y": 1.2848021984100342,
                    "z": 0.06604716926813126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994356632232666,
                "transform": {
                    "location": {
                        "x": 3002.86083984375,
                        "y": 4274.1396484375,
                        "z": 361.3592529296875
                    },
                    "rotation": {
                        "roll": 0.0002369123831158504,
                        "pitch": 0.5317506790161133,
                        "yaw": 9.195060729980469
                    }
                },
                "velocity": {
                    "x": 7.8912787437438965,
                    "y": 1.2774220705032349,
                    "z": 0.07519286870956421
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054710388183594,
                "transform": {
                    "location": {
                        "x": 3003.36376953125,
                        "y": 4270.92822265625,
                        "z": 361.3591003417969
                    },
                    "rotation": {
                        "roll": 0.00017886990099214017,
                        "pitch": 0.5302138924598694,
                        "yaw": 9.189619064331055
                    }
                },
                "velocity": {
                    "x": 7.950968265533447,
                    "y": 1.2863236665725708,
                    "z": 0.0763954371213913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4043670892715454,
                "transform": {
                    "location": {
                        "x": 2965.859619140625,
                        "y": 4258.07421875,
                        "z": 361.0071716308594
                    },
                    "rotation": {
                        "roll": -0.0007324169855564833,
                        "pitch": -0.4159858226776123,
                        "yaw": -170.63211059570312
                    }
                },
                "velocity": {
                    "x": -1.3861514329910278,
                    "y": -0.2251441329717636,
                    "z": -0.011874694377183914
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.771092414855957,
                "transform": {
                    "location": {
                        "x": 2879.93359375,
                        "y": 4250.8916015625,
                        "z": 360.3739013671875
                    },
                    "rotation": {
                        "roll": 0.003943602088838816,
                        "pitch": 0.3906116783618927,
                        "yaw": 9.75741958618164
                    }
                },
                "velocity": {
                    "x": 6.673065662384033,
                    "y": 1.1470544338226318,
                    "z": 0.04636968672275543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.710941314697266,
                "transform": {
                    "location": {
                        "x": 2879.33837890625,
                        "y": 4254.09326171875,
                        "z": 360.3791809082031
                    },
                    "rotation": {
                        "roll": 0.0036084121093153954,
                        "pitch": 0.21178366243839264,
                        "yaw": 9.695389747619629
                    }
                },
                "velocity": {
                    "x": 5.629278659820557,
                    "y": 0.9614882469177246,
                    "z": 0.040180034935474396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2642316818237305,
                "transform": {
                    "location": {
                        "x": 2987.61865234375,
                        "y": 4264.96728515625,
                        "z": 361.19769287109375
                    },
                    "rotation": {
                        "roll": -0.003814693307504058,
                        "pitch": -0.507442057132721,
                        "yaw": -170.35984802246094
                    }
                },
                "velocity": {
                    "x": -4.20152473449707,
                    "y": -0.7275859713554382,
                    "z": -0.038468290120363235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2219104766845703,
                "transform": {
                    "location": {
                        "x": 2953.670166015625,
                        "y": 4256.1005859375,
                        "z": 360.892578125
                    },
                    "rotation": {
                        "roll": -0.0014648449141532183,
                        "pitch": -0.4028308689594269,
                        "yaw": -170.70042419433594
                    }
                },
                "velocity": {
                    "x": -2.19329833984375,
                    "y": -0.3550472855567932,
                    "z": -0.016407527029514313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.250293731689453,
                "transform": {
                    "location": {
                        "x": 2955.31982421875,
                        "y": 4259.6591796875,
                        "z": 360.9215393066406
                    },
                    "rotation": {
                        "roll": -6.103868508944288e-05,
                        "pitch": -0.6460265517234802,
                        "yaw": -170.8106689453125
                    }
                },
                "velocity": {
                    "x": -12.092727661132812,
                    "y": -1.9561127424240112,
                    "z": -0.09623931348323822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070144653320312,
                "transform": {
                    "location": {
                        "x": 2920.725830078125,
                        "y": 4257.556640625,
                        "z": 360.6539306640625
                    },
                    "rotation": {
                        "roll": 0.0009375678491778672,
                        "pitch": 0.4132537543773651,
                        "yaw": 9.186619758605957
                    }
                },
                "velocity": {
                    "x": 7.966691493988037,
                    "y": 1.2867889404296875,
                    "z": 0.0568956658244133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052298545837402,
                "transform": {
                    "location": {
                        "x": 2920.328369140625,
                        "y": 4260.78466796875,
                        "z": 360.6647033691406
                    },
                    "rotation": {
                        "roll": -0.000823976646643132,
                        "pitch": 0.41577407717704773,
                        "yaw": 9.1903715133667
                    }
                },
                "velocity": {
                    "x": 7.9487433433532715,
                    "y": 1.2860133647918701,
                    "z": 0.056197039783000946
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8228174448013306,
                "transform": {
                    "location": {
                        "x": 2896.284912109375,
                        "y": 4246.8984375,
                        "z": 360.5179748535156
                    },
                    "rotation": {
                        "roll": -0.002288815099745989,
                        "pitch": -0.337862104177475,
                        "yaw": -170.42723083496094
                    }
                },
                "velocity": {
                    "x": -0.8111186027526855,
                    "y": -0.13816043734550476,
                    "z": -0.005184650421142578
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.038352012634277,
                "transform": {
                    "location": {
                        "x": 2926.556396484375,
                        "y": 4255.0048828125,
                        "z": 360.6920471191406
                    },
                    "rotation": {
                        "roll": -0.0002441407705191523,
                        "pitch": -0.36157652735710144,
                        "yaw": -170.81065368652344
                    }
                },
                "velocity": {
                    "x": -12.87105655670166,
                    "y": -2.079780340194702,
                    "z": -0.09501270949840546
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00042580722947604954,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0002695188159123063,
                        "pitch": -0.39843904972076416,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": 1.7919464880833402e-05,
                    "y": -4.9765145377023146e-05,
                    "z": -0.0004225092998240143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.5264310836792,
                "transform": {
                    "location": {
                        "x": 2903.722412109375,
                        "y": 4251.31005859375,
                        "z": 360.53851318359375
                    },
                    "rotation": {
                        "roll": -0.0003662154485937208,
                        "pitch": -0.48827654123306274,
                        "yaw": -170.81277465820312
                    }
                },
                "velocity": {
                    "x": -12.365363121032715,
                    "y": -2.000399112701416,
                    "z": -0.08749455213546753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11089939624071121,
        "expert_target_speed": 10.0,
        "target_point": [
            52.109912747954354,
            7.0556515411675385
        ],
        "target_point_next": [
            93.80691223853853,
            12.091502875980702
        ]
    },
    "440": {
        "acceleration": [
            -2.5156688690185547,
            0.7299837470054626,
            -0.004379749298095703
        ],
        "angular_velocity": [
            0.2529769241809845,
            -0.05886457487940788,
            -8.33621597290039
        ],
        "forward_vector": [
            -0.9999798536300659,
            -0.0059660496190190315,
            -0.0021533947438001633
        ],
        "right_vector": [
            0.00597697589546442,
            -0.9999690651893616,
            -0.005103650037199259
        ],
        "location": [
            2940.916748046875,
            4255.1025390625,
            360.8017883300781
        ],
        "rotation": [
            0.29241955280303955,
            -0.12338052690029144,
            -179.65817260742188
        ],
        "velocity": [
            -4.779888153076172,
            0.1759544312953949,
            -0.03410836309194565
        ],
        "speed": 4.78312562220672,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.03908920288086,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054685592651367,
                "transform": {
                    "location": {
                        "x": 2964.089599609375,
                        "y": 4267.86572265625,
                        "z": 361.0057678222656
                    },
                    "rotation": {
                        "roll": 0.0003103807976003736,
                        "pitch": 0.4773072600364685,
                        "yaw": 9.191734313964844
                    }
                },
                "velocity": {
                    "x": 7.950957298278809,
                    "y": 1.286670207977295,
                    "z": 0.06860212236642838
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006213188171387,
                "transform": {
                    "location": {
                        "x": 2964.5380859375,
                        "y": 4264.6455078125,
                        "z": 361.03558349609375
                    },
                    "rotation": {
                        "roll": -0.0006103463820181787,
                        "pitch": 0.48294898867607117,
                        "yaw": 9.190268516540527
                    }
                },
                "velocity": {
                    "x": 7.903195858001709,
                    "y": 1.278443455696106,
                    "z": 0.06725042313337326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05502986907959,
                "transform": {
                    "location": {
                        "x": 3004.841552734375,
                        "y": 4274.46044921875,
                        "z": 361.3779602050781
                    },
                    "rotation": {
                        "roll": -9.156113083008677e-05,
                        "pitch": 0.5298314094543457,
                        "yaw": 9.195229530334473
                    }
                },
                "velocity": {
                    "x": 7.951166152954102,
                    "y": 1.287130355834961,
                    "z": 0.07587884366512299
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995534420013428,
                "transform": {
                    "location": {
                        "x": 3005.343994140625,
                        "y": 4271.24853515625,
                        "z": 361.3778076171875
                    },
                    "rotation": {
                        "roll": -3.052037936868146e-05,
                        "pitch": 0.5307807922363281,
                        "yaw": 9.189594268798828
                    }
                },
                "velocity": {
                    "x": 7.892559051513672,
                    "y": 1.2768656015396118,
                    "z": 0.07546569406986237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.456083059310913,
                "transform": {
                    "location": {
                        "x": 2965.34716796875,
                        "y": 4257.99072265625,
                        "z": 361.0008239746094
                    },
                    "rotation": {
                        "roll": 0.00159067427739501,
                        "pitch": -0.15426664054393768,
                        "yaw": -170.6853790283203
                    }
                },
                "velocity": {
                    "x": -2.424299955368042,
                    "y": -0.39331287145614624,
                    "z": -0.020471900701522827
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.294106960296631,
                "transform": {
                    "location": {
                        "x": 2881.6318359375,
                        "y": 4251.18359375,
                        "z": 360.3855895996094
                    },
                    "rotation": {
                        "roll": 0.004342386033385992,
                        "pitch": 0.40134188532829285,
                        "yaw": 9.75049877166748
                    }
                },
                "velocity": {
                    "x": 7.188747406005859,
                    "y": 1.2342808246612549,
                    "z": 0.0496053509414196
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.724379539489746,
                "transform": {
                    "location": {
                        "x": 2880.72021484375,
                        "y": 4254.3291015625,
                        "z": 360.3888244628906
                    },
                    "rotation": {
                        "roll": 0.003623881144449115,
                        "pitch": 0.3452455401420593,
                        "yaw": 9.687714576721191
                    }
                },
                "velocity": {
                    "x": 5.64274263381958,
                    "y": 0.9625790119171143,
                    "z": 0.037655048072338104
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.058751583099365,
                "transform": {
                    "location": {
                        "x": 2986.468017578125,
                        "y": 4264.7685546875,
                        "z": 361.18707275390625
                    },
                    "rotation": {
                        "roll": -0.004547122400254011,
                        "pitch": -0.5109595656394958,
                        "yaw": -170.25927734375
                    }
                },
                "velocity": {
                    "x": -4.984134674072266,
                    "y": -0.8646402359008789,
                    "z": -0.042038239538669586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5143778324127197,
                "transform": {
                    "location": {
                        "x": 2953.221923828125,
                        "y": 4256.02685546875,
                        "z": 360.8892517089844
                    },
                    "rotation": {
                        "roll": -0.001556401257403195,
                        "pitch": -0.43725502490997314,
                        "yaw": -170.81915283203125
                    }
                },
                "velocity": {
                    "x": -1.4935896396636963,
                    "y": -0.24976147711277008,
                    "z": -0.012231226079165936
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.81899642944336,
                "transform": {
                    "location": {
                        "x": 2952.22119140625,
                        "y": 4259.158203125,
                        "z": 360.89703369140625
                    },
                    "rotation": {
                        "roll": 0.0017846811097115278,
                        "pitch": -0.40331581234931946,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -12.654189109802246,
                    "y": -2.0464959144592285,
                    "z": -0.10011738538742065
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016615867614746,
                "transform": {
                    "location": {
                        "x": 2922.71044921875,
                        "y": 4257.8779296875,
                        "z": 360.6683654785156
                    },
                    "rotation": {
                        "roll": 0.0001482736406615004,
                        "pitch": 0.41362258791923523,
                        "yaw": 9.188854217529297
                    }
                },
                "velocity": {
                    "x": 7.913771152496338,
                    "y": 1.2786880731582642,
                    "z": 0.05756236985325813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041667938232422,
                "transform": {
                    "location": {
                        "x": 2922.314208984375,
                        "y": 4261.10595703125,
                        "z": 360.6791687011719
                    },
                    "rotation": {
                        "roll": 0.0015548758674412966,
                        "pitch": 0.41491347551345825,
                        "yaw": 9.188257217407227
                    }
                },
                "velocity": {
                    "x": 7.938416481018066,
                    "y": 1.2832646369934082,
                    "z": 0.05663175508379936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6321437358856201,
                "transform": {
                    "location": {
                        "x": 2895.9697265625,
                        "y": 4246.8447265625,
                        "z": 360.5154724121094
                    },
                    "rotation": {
                        "roll": -0.002655033254995942,
                        "pitch": -0.3117298185825348,
                        "yaw": -170.41526794433594
                    }
                },
                "velocity": {
                    "x": -1.6086755990982056,
                    "y": -0.27560654282569885,
                    "z": -0.009842386469244957
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.964523315429688,
                "transform": {
                    "location": {
                        "x": 2923.47119140625,
                        "y": 4254.505859375,
                        "z": 360.6701354980469
                    },
                    "rotation": {
                        "roll": 0.0013890694826841354,
                        "pitch": -0.45209020376205444,
                        "yaw": -170.82107543945312
                    }
                },
                "velocity": {
                    "x": -11.810791969299316,
                    "y": -1.909848690032959,
                    "z": -0.08651535212993622
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008540545823052526,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00038983378908596933,
                        "pitch": -0.398555189371109,
                        "yaw": -170.80880737304688
                    }
                },
                "velocity": {
                    "x": 5.375593900680542e-06,
                    "y": 2.2104075469542295e-05,
                    "z": -0.000853751553222537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.621943473815918,
                "transform": {
                    "location": {
                        "x": 2900.742431640625,
                        "y": 4250.828125,
                        "z": 360.517578125
                    },
                    "rotation": {
                        "roll": 0.0001081871087080799,
                        "pitch": -0.531586766242981,
                        "yaw": -170.81912231445312
                    }
                },
                "velocity": {
                    "x": -11.472729682922363,
                    "y": -1.8546428680419922,
                    "z": -0.0797644630074501
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.4588448405265808,
        "expert_target_speed": 0,
        "target_point": [
            50.718073396805494,
            8.860651341156577
        ],
        "target_point_next": [
            92.21805574552202,
            15.322155054715301
        ]
    },
    "445": {
        "acceleration": [
            1.3178443908691406,
            -0.5438202619552612,
            -0.02283520996570587
        ],
        "angular_velocity": [
            -1.0273696184158325,
            -1.1816012859344482,
            0.20402158796787262
        ],
        "forward_vector": [
            -0.9997637867927551,
            0.02140382118523121,
            -0.003759851912036538
        ],
        "right_vector": [
            -0.021391376852989197,
            -0.9997656345367432,
            -0.0033200199250131845
        ],
        "location": [
            2939.66015625,
            4255.1484375,
            360.7934265136719
        ],
        "rotation": [
            0.19022482633590698,
            -0.21542415022850037,
            178.77354431152344
        ],
        "velocity": [
            -5.03609037399292,
            0.18878304958343506,
            -0.037183452397584915
        ],
        "speed": 5.039627495642328,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.902814865112305,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99619197845459,
                "transform": {
                    "location": {
                        "x": 2966.06982421875,
                        "y": 4268.18603515625,
                        "z": 361.02264404296875
                    },
                    "rotation": {
                        "roll": -0.0001525840489193797,
                        "pitch": 0.4804149866104126,
                        "yaw": 9.191635131835938
                    }
                },
                "velocity": {
                    "x": 7.893266201019287,
                    "y": 1.2770553827285767,
                    "z": 0.06757079809904099
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042143821716309,
                "transform": {
                    "location": {
                        "x": 2966.518310546875,
                        "y": 4264.9658203125,
                        "z": 361.0523986816406
                    },
                    "rotation": {
                        "roll": 5.458677333081141e-05,
                        "pitch": 0.48557862639427185,
                        "yaw": 9.18947982788086
                    }
                },
                "velocity": {
                    "x": 7.938642501831055,
                    "y": 1.2842926979064941,
                    "z": 0.0679636001586914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995279312133789,
                "transform": {
                    "location": {
                        "x": 3006.821533203125,
                        "y": 4274.78125,
                        "z": 361.3966369628906
                    },
                    "rotation": {
                        "roll": -0.00018310561426915228,
                        "pitch": 0.5306510329246521,
                        "yaw": 9.192058563232422
                    }
                },
                "velocity": {
                    "x": 7.892267227172852,
                    "y": 1.2770918607711792,
                    "z": 0.0751267820596695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054679870605469,
                "transform": {
                    "location": {
                        "x": 3007.32470703125,
                        "y": 4271.56982421875,
                        "z": 361.3965148925781
                    },
                    "rotation": {
                        "roll": 1.1373018651283928e-06,
                        "pitch": 0.5303027033805847,
                        "yaw": 9.194401741027832
                    }
                },
                "velocity": {
                    "x": 7.950836658477783,
                    "y": 1.2869465351104736,
                    "z": 0.07637134194374084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.47056108713150024,
                "transform": {
                    "location": {
                        "x": 2965.125,
                        "y": 4257.95556640625,
                        "z": 361.00494384765625
                    },
                    "rotation": {
                        "roll": -0.006011969409883022,
                        "pitch": -0.9048429131507874,
                        "yaw": -170.61593627929688
                    }
                },
                "velocity": {
                    "x": -0.4645119607448578,
                    "y": -0.07509914040565491,
                    "z": -0.004059314727783203
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.483659744262695,
                "transform": {
                    "location": {
                        "x": 2883.59765625,
                        "y": 4251.5166015625,
                        "z": 360.39898681640625
                    },
                    "rotation": {
                        "roll": 0.004440696910023689,
                        "pitch": 0.4157126247882843,
                        "yaw": 9.581826210021973
                    }
                },
                "velocity": {
                    "x": 8.36727237701416,
                    "y": 1.3992854356765747,
                    "z": 0.05696761980652809
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.27065372467041,
                "transform": {
                    "location": {
                        "x": 2882.248046875,
                        "y": 4254.5869140625,
                        "z": 360.39935302734375
                    },
                    "rotation": {
                        "roll": 0.015409302897751331,
                        "pitch": 0.6514907479286194,
                        "yaw": 9.579241752624512
                    }
                },
                "velocity": {
                    "x": 7.170899391174316,
                    "y": 1.1992213726043701,
                    "z": 0.049742020666599274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.577343940734863,
                "transform": {
                    "location": {
                        "x": 2985.1640625,
                        "y": 4264.54296875,
                        "z": 361.1751403808594
                    },
                    "rotation": {
                        "roll": -0.004699706099927425,
                        "pitch": -0.5141356587409973,
                        "yaw": -170.21116638183594
                    }
                },
                "velocity": {
                    "x": -5.497522354125977,
                    "y": -0.9388294219970703,
                    "z": -0.05111788958311081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.586721420288086,
                "transform": {
                    "location": {
                        "x": 2952.76513671875,
                        "y": 4255.9501953125,
                        "z": 360.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0016847815131768584,
                        "pitch": -0.3915405869483948,
                        "yaw": -171.001953125
                    }
                },
                "velocity": {
                    "x": -2.5536088943481445,
                    "y": -0.41208070516586304,
                    "z": -0.019983582198619843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.986942291259766,
                "transform": {
                    "location": {
                        "x": 2948.9990234375,
                        "y": 4258.63671875,
                        "z": 360.8719177246094
                    },
                    "rotation": {
                        "roll": 0.001342915347777307,
                        "pitch": -0.40041297674179077,
                        "yaw": -170.81008911132812
                    }
                },
                "velocity": {
                    "x": -12.819903373718262,
                    "y": -2.073882579803467,
                    "z": -0.09864362329244614
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069979667663574,
                "transform": {
                    "location": {
                        "x": 2924.695556640625,
                        "y": 4258.19921875,
                        "z": 360.6828308105469
                    },
                    "rotation": {
                        "roll": 0.0004022279754281044,
                        "pitch": 0.4148656725883484,
                        "yaw": 9.18730354309082
                    }
                },
                "velocity": {
                    "x": 7.966239929199219,
                    "y": 1.2884995937347412,
                    "z": 0.058018673211336136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052143096923828,
                "transform": {
                    "location": {
                        "x": 2924.30029296875,
                        "y": 4261.42724609375,
                        "z": 360.69366455078125
                    },
                    "rotation": {
                        "roll": -0.00015258940402418375,
                        "pitch": 0.41747480630874634,
                        "yaw": 9.186232566833496
                    }
                },
                "velocity": {
                    "x": 7.9486846923828125,
                    "y": 1.2853485345840454,
                    "z": 0.057416923344135284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6925137042999268,
                "transform": {
                    "location": {
                        "x": 2895.43896484375,
                        "y": 4246.75439453125,
                        "z": 360.51165771484375
                    },
                    "rotation": {
                        "roll": -0.003173828125,
                        "pitch": -0.2871343195438385,
                        "yaw": -170.381103515625
                    }
                },
                "velocity": {
                    "x": -2.6537256240844727,
                    "y": -0.45503440499305725,
                    "z": -0.017699241638183594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.698681831359863,
                "transform": {
                    "location": {
                        "x": 2920.66748046875,
                        "y": 4254.05224609375,
                        "z": 360.6499938964844
                    },
                    "rotation": {
                        "roll": -9.155717998510227e-05,
                        "pitch": -0.4867260754108429,
                        "yaw": -170.8005828857422
                    }
                },
                "velocity": {
                    "x": -10.56112003326416,
                    "y": -1.7084028720855713,
                    "z": -0.07675884664058685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008140203426592052,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00038983378908596933,
                        "pitch": -0.398555189371109,
                        "yaw": -170.80880737304688
                    }
                },
                "velocity": {
                    "x": 3.6388635180628626e-06,
                    "y": 8.14865325082792e-06,
                    "z": -0.000813971390016377
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.134696960449219,
                "transform": {
                    "location": {
                        "x": 2898.068359375,
                        "y": 4250.39599609375,
                        "z": 360.4989318847656
                    },
                    "rotation": {
                        "roll": 0.0009595657465979457,
                        "pitch": -0.6096421480178833,
                        "yaw": -170.82667541503906
                    }
                },
                "velocity": {
                    "x": -10.00464916229248,
                    "y": -1.6168272495269775,
                    "z": -0.070393867790699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7020708918571472,
        "expert_target_speed": 0,
        "target_point": [
            49.19929121555249,
            10.264376414939628
        ],
        "target_point_next": [
            90.50689040592975,
            17.859230877749297
        ]
    },
    "450": {
        "acceleration": [
            0.1393604278564453,
            0.0342559814453125,
            -0.002978220582008362
        ],
        "angular_velocity": [
            0.003361079841852188,
            -0.5082003474235535,
            -4.106632709503174
        ],
        "forward_vector": [
            -0.9996312260627747,
            0.026570502668619156,
            -0.005596250295639038
        ],
        "right_vector": [
            -0.026562070474028587,
            -0.9996458888053894,
            -0.0015757485525682569
        ],
        "location": [
            2938.367431640625,
            4255.18505859375,
            360.7843322753906
        ],
        "rotation": [
            0.09028519690036774,
            -0.32064321637153625,
            178.4774169921875
        ],
        "velocity": [
            -5.19077730178833,
            0.1505230814218521,
            -0.03765835613012314
        ],
        "speed": 5.192959290693667,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.773348331451416,
        "front_vehicle_info": {
            "id": 3747,
            "type": "vehicle.dodge.charger_police_2020",
            "location": [
                2932.507080078125,
                4251.7890625,
                360.7426452636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0548734664917,
                "transform": {
                    "location": {
                        "x": 2968.05078125,
                        "y": 4268.50634765625,
                        "z": 361.0397033691406
                    },
                    "rotation": {
                        "roll": -0.0005187992937862873,
                        "pitch": 0.4833041727542877,
                        "yaw": 9.19167709350586
                    }
                },
                "velocity": {
                    "x": 7.951165676116943,
                    "y": 1.2865488529205322,
                    "z": 0.06888503581285477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00537109375,
                "transform": {
                    "location": {
                        "x": 2968.498291015625,
                        "y": 4265.28662109375,
                        "z": 361.0694885253906
                    },
                    "rotation": {
                        "roll": 0.0003476687124930322,
                        "pitch": 0.4908924996852875,
                        "yaw": 9.192840576171875
                    }
                },
                "velocity": {
                    "x": 7.902278900146484,
                    "y": 1.2788029909133911,
                    "z": 0.0680183619260788
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3008.8740234375,
                        "y": 4275.03125,
                        "z": 361.4130859375
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3009.37646484375,
                        "y": 4271.82080078125,
                        "z": 361.4129638671875
                    },
                    "rotation": {
                        "roll": -3.33520011608357e-09,
                        "pitch": 0.5378090739250183,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5813636779785156,
                "transform": {
                    "location": {
                        "x": 2964.8681640625,
                        "y": 4257.91357421875,
                        "z": 360.99859619140625
                    },
                    "rotation": {
                        "roll": -0.0011901838006451726,
                        "pitch": -0.38384976983070374,
                        "yaw": -170.62428283691406
                    }
                },
                "velocity": {
                    "x": -1.5608830451965332,
                    "y": -0.2533662021160126,
                    "z": -0.012673778459429741
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041180610656738,
                "transform": {
                    "location": {
                        "x": 2885.646240234375,
                        "y": 4251.859375,
                        "z": 360.4132080078125
                    },
                    "rotation": {
                        "roll": 0.0019524511881172657,
                        "pitch": 0.3864794075489044,
                        "yaw": 9.449238777160645
                    }
                },
                "velocity": {
                    "x": 7.932286262512207,
                    "y": 1.3176721334457397,
                    "z": 0.056190375238657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.420551300048828,
                "transform": {
                    "location": {
                        "x": 2884.251708984375,
                        "y": 4254.92138671875,
                        "z": 360.4132080078125
                    },
                    "rotation": {
                        "roll": 0.010600272566080093,
                        "pitch": 0.6505345106124878,
                        "yaw": 9.456282615661621
                    }
                },
                "velocity": {
                    "x": 8.30631160736084,
                    "y": 1.3811618089675903,
                    "z": 0.057084452360868454
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.290190696716309,
                "transform": {
                    "location": {
                        "x": 2983.696533203125,
                        "y": 4264.29345703125,
                        "z": 361.1614074707031
                    },
                    "rotation": {
                        "roll": -0.0036010753829032183,
                        "pitch": -0.5082684755325317,
                        "yaw": -170.35787963867188
                    }
                },
                "velocity": {
                    "x": -6.20285701751709,
                    "y": -1.042946696281433,
                    "z": -0.05770452320575714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.238417625427246,
                "transform": {
                    "location": {
                        "x": 2951.917236328125,
                        "y": 4255.81494140625,
                        "z": 360.8783264160156
                    },
                    "rotation": {
                        "roll": -0.0012817406095564365,
                        "pitch": -0.3430803716182709,
                        "yaw": -170.87939453125
                    }
                },
                "velocity": {
                    "x": -4.184222221374512,
                    "y": -0.6748521327972412,
                    "z": -0.03234364464879036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.277386665344238,
                "transform": {
                    "location": {
                        "x": 2946.00244140625,
                        "y": 4258.15185546875,
                        "z": 360.8488464355469
                    },
                    "rotation": {
                        "roll": 0.0006089778617024422,
                        "pitch": -0.6876155734062195,
                        "yaw": -170.81063842773438
                    }
                },
                "velocity": {
                    "x": -11.132306098937988,
                    "y": -1.8010975122451782,
                    "z": -0.0852147564291954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01680850982666,
                "transform": {
                    "location": {
                        "x": 2926.6806640625,
                        "y": 4258.5205078125,
                        "z": 360.6973876953125
                    },
                    "rotation": {
                        "roll": -0.0013732912484556437,
                        "pitch": 0.4176660478115082,
                        "yaw": 9.183382034301758
                    }
                },
                "velocity": {
                    "x": 7.913851261138916,
                    "y": 1.2794067859649658,
                    "z": 0.057506732642650604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041491508483887,
                "transform": {
                    "location": {
                        "x": 2926.285888671875,
                        "y": 4261.748046875,
                        "z": 360.7082214355469
                    },
                    "rotation": {
                        "roll": 0.0001401193585479632,
                        "pitch": 0.42037078738212585,
                        "yaw": 9.182943344116211
                    }
                },
                "velocity": {
                    "x": 7.938222885131836,
                    "y": 1.2833259105682373,
                    "z": 0.057195793837308884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.076800346374512,
                "transform": {
                    "location": {
                        "x": 2894.6005859375,
                        "y": 4246.611328125,
                        "z": 360.5055236816406
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.2493838518857956,
                        "yaw": -170.34104919433594
                    }
                },
                "velocity": {
                    "x": -4.018168926239014,
                    "y": -0.6883682012557983,
                    "z": -0.027747783809900284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.702302932739258,
                "transform": {
                    "location": {
                        "x": 2918.177734375,
                        "y": 4253.6494140625,
                        "z": 360.6319580078125
                    },
                    "rotation": {
                        "roll": 0.0012915940023958683,
                        "pitch": -0.4763510227203369,
                        "yaw": -170.82289123535156
                    }
                },
                "velocity": {
                    "x": -9.577491760253906,
                    "y": -1.5496788024902344,
                    "z": -0.06957561522722244
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.749167368980125e-05,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00038983378908596933,
                        "pitch": -0.398555189371109,
                        "yaw": -170.80880737304688
                    }
                },
                "velocity": {
                    "x": -8.981302016763948e-06,
                    "y": 5.167853032617131e-06,
                    "z": -6.669149297522381e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.758195877075195,
                "transform": {
                    "location": {
                        "x": 2895.622314453125,
                        "y": 4250.0009765625,
                        "z": 360.482177734375
                    },
                    "rotation": {
                        "roll": 0.0008570440113544464,
                        "pitch": -0.49557116627693176,
                        "yaw": -170.82351684570312
                    }
                },
                "velocity": {
                    "x": -9.633065223693848,
                    "y": -1.5562409162521362,
                    "z": -0.06756442040205002
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9456422328948975,
        "expert_target_speed": 0,
        "target_point": [
            47.85233727627133,
            10.52080429129618
        ],
        "target_point_next": [
            89.1201276654773,
            18.329071805711706
        ]
    },
    "455": {
        "acceleration": [
            -9.865388870239258,
            -0.259457528591156,
            -0.07201209664344788
        ],
        "angular_velocity": [
            -0.29513874650001526,
            2.1352293491363525,
            4.971019744873047
        ],
        "forward_vector": [
            -0.9997777938842773,
            0.02042234130203724,
            -0.005229806527495384
        ],
        "right_vector": [
            -0.02042241208255291,
            -0.9997914433479309,
            -3.9833117625676095e-05
        ],
        "location": [
            2937.0478515625,
            4255.21240234375,
            360.7746276855469
        ],
        "rotation": [
            0.0022823004983365536,
            -0.2996472120285034,
            178.8297882080078
        ],
        "velocity": [
            -5.7212443351745605,
            0.06559305638074875,
            -0.040945228189229965
        ],
        "speed": 5.7216203292260115,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.294031143188477,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2915.843017578125,
                4253.27197265625,
                360.614990234375
            ],
            "velocity": [
                -9.159584999084473,
                -1.4844928979873657,
                -0.06764630228281021
            ],
            "speed_kmh": 33.405651488067946,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995364189147949,
                "transform": {
                    "location": {
                        "x": 2970.03076171875,
                        "y": 4268.8271484375,
                        "z": 361.05682373046875
                    },
                    "rotation": {
                        "roll": -0.00021362808183766901,
                        "pitch": 0.49352896213531494,
                        "yaw": 9.19176959991455
                    }
                },
                "velocity": {
                    "x": 7.892411231994629,
                    "y": 1.2771203517913818,
                    "z": 0.06823629140853882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041994094848633,
                "transform": {
                    "location": {
                        "x": 2970.478759765625,
                        "y": 4265.60693359375,
                        "z": 361.086669921875
                    },
                    "rotation": {
                        "roll": 0.0007679751724936068,
                        "pitch": 0.4998127222061157,
                        "yaw": 9.192926406860352
                    }
                },
                "velocity": {
                    "x": 7.938409328460693,
                    "y": 1.2847750186920166,
                    "z": 0.06840154528617859
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3010.93310546875,
                        "y": 4275.34326171875,
                        "z": 361.4319763183594
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3011.435791015625,
                        "y": 4272.13330078125,
                        "z": 361.43182373046875
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9823981523513794,
                "transform": {
                    "location": {
                        "x": 2964.3505859375,
                        "y": 4257.830078125,
                        "z": 360.9928283691406
                    },
                    "rotation": {
                        "roll": -0.0008239735616371036,
                        "pitch": -0.20559550821781158,
                        "yaw": -170.59642028808594
                    }
                },
                "velocity": {
                    "x": -1.9566199779510498,
                    "y": -0.31827080249786377,
                    "z": -0.015635080635547638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.95259952545166,
                "transform": {
                    "location": {
                        "x": 2887.5986328125,
                        "y": 4252.1826171875,
                        "z": 360.42681884765625
                    },
                    "rotation": {
                        "roll": 0.002428837353363633,
                        "pitch": 0.3852977752685547,
                        "yaw": 9.372316360473633
                    }
                },
                "velocity": {
                    "x": 7.847225189208984,
                    "y": 1.2892097234725952,
                    "z": 0.053212545812129974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.852910041809082,
                "transform": {
                    "location": {
                        "x": 2886.251708984375,
                        "y": 4255.2529296875,
                        "z": 360.4269104003906
                    },
                    "rotation": {
                        "roll": 0.00603221682831645,
                        "pitch": 0.3655858635902405,
                        "yaw": 9.436827659606934
                    }
                },
                "velocity": {
                    "x": 7.746737957000732,
                    "y": 1.2858715057373047,
                    "z": 0.052770957350730896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.445516586303711,
                "transform": {
                    "location": {
                        "x": 2981.9833984375,
                        "y": 4264.005859375,
                        "z": 361.14544677734375
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.4975587725639343,
                        "yaw": -170.44015502929688
                    }
                },
                "velocity": {
                    "x": -7.343059062957764,
                    "y": -1.2291063070297241,
                    "z": -0.06707701832056046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.059022426605225,
                "transform": {
                    "location": {
                        "x": 2950.7275390625,
                        "y": 4255.62353515625,
                        "z": 360.8691711425781
                    },
                    "rotation": {
                        "roll": -0.0006713864277116954,
                        "pitch": -0.36385780572891235,
                        "yaw": -170.80020141601562
                    }
                },
                "velocity": {
                    "x": -4.994253158569336,
                    "y": -0.8059952855110168,
                    "z": -0.03896734118461609
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.105778694152832,
                "transform": {
                    "location": {
                        "x": 2943.459716796875,
                        "y": 4257.740234375,
                        "z": 360.8295593261719
                    },
                    "rotation": {
                        "roll": 8.416597120231017e-05,
                        "pitch": -0.8489924669265747,
                        "yaw": -170.80801391601562
                    }
                },
                "velocity": {
                    "x": -8.988452911376953,
                    "y": -1.4554110765457153,
                    "z": -0.0685812458395958
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069607734680176,
                "transform": {
                    "location": {
                        "x": 2928.66552734375,
                        "y": 4258.841796875,
                        "z": 360.71197509765625
                    },
                    "rotation": {
                        "roll": -0.000366208580089733,
                        "pitch": 0.4180758595466614,
                        "yaw": 9.18410873413086
                    }
                },
                "velocity": {
                    "x": 7.965726375579834,
                    "y": 1.289360761642456,
                    "z": 0.05762588232755661
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052602767944336,
                "transform": {
                    "location": {
                        "x": 2928.272216796875,
                        "y": 4262.0693359375,
                        "z": 360.72283935546875
                    },
                    "rotation": {
                        "roll": 0.00014145341992843896,
                        "pitch": 0.42092403769493103,
                        "yaw": 9.190484046936035
                    }
                },
                "velocity": {
                    "x": 7.949028015136719,
                    "y": 1.286088228225708,
                    "z": 0.05782134085893631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.274790287017822,
                "transform": {
                    "location": {
                        "x": 2893.429931640625,
                        "y": 4246.41064453125,
                        "z": 360.4977722167969
                    },
                    "rotation": {
                        "roll": -0.002990721957758069,
                        "pitch": -0.24889890849590302,
                        "yaw": -170.3098907470703
                    }
                },
                "velocity": {
                    "x": -5.198986530303955,
                    "y": -0.8904063701629639,
                    "z": -0.033610258251428604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.27934741973877,
                "transform": {
                    "location": {
                        "x": 2915.843017578125,
                        "y": 4253.27197265625,
                        "z": 360.614990234375
                    },
                    "rotation": {
                        "roll": 0.00038589737960137427,
                        "pitch": -0.4466806948184967,
                        "yaw": -170.79278564453125
                    }
                },
                "velocity": {
                    "x": -9.159584999084473,
                    "y": -1.4844928979873657,
                    "z": -0.06764630228281021
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005926574231125414,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00039915883098728955,
                        "pitch": -0.3984937071800232,
                        "yaw": -170.8088836669922
                    }
                },
                "velocity": {
                    "x": -9.368136488774326e-06,
                    "y": 2.303413930349052e-05,
                    "z": -0.0005921355332247913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.994747161865234,
                "transform": {
                    "location": {
                        "x": 2893.29248046875,
                        "y": 4249.62451171875,
                        "z": 360.4660949707031
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.5055842399597168,
                        "yaw": -170.81492614746094
                    }
                },
                "velocity": {
                    "x": -8.879022598266602,
                    "y": -1.4368610382080078,
                    "z": -0.06213116645812988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9991862773895264,
        "expert_target_speed": 0,
        "target_point": [
            46.59627408949351,
            10.226692519186177
        ],
        "target_point_next": [
            87.91130645400435,
            17.78100690922439
        ]
    },
    "460": {
        "acceleration": [
            -2.518596649169922,
            -0.3049798607826233,
            0.001981183886528015
        ],
        "angular_velocity": [
            0.02601856365799904,
            -0.15483075380325317,
            -0.06285779923200607
        ],
        "forward_vector": [
            -0.999962329864502,
            0.0086391381919384,
            -0.0008256434230133891
        ],
        "right_vector": [
            -0.008639546111226082,
            -0.999962568283081,
            0.0004921519430354238
        ],
        "location": [
            2935.444580078125,
            4255.22265625,
            360.7620544433594
        ],
        "rotation": [
            -0.0281982384622097,
            -0.047305889427661896,
            179.5050048828125
        ],
        "velocity": [
            -6.779656887054443,
            0.0019797522109001875,
            -0.04861078038811684
        ],
        "speed": 6.779657176111751,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.04531478881836,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2913.52294921875,
                4252.896484375,
                360.5979919433594
            ],
            "velocity": [
                -9.533864974975586,
                -1.5424715280532837,
                -0.06777969002723694
            ],
            "speed_kmh": 34.769066488121695,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055950164794922,
                "transform": {
                    "location": {
                        "x": 2972.01171875,
                        "y": 4269.1474609375,
                        "z": 361.0742492675781
                    },
                    "rotation": {
                        "roll": -0.0006408674526028335,
                        "pitch": 0.4924907684326172,
                        "yaw": 9.188231468200684
                    }
                },
                "velocity": {
                    "x": 7.952306270599365,
                    "y": 1.2862412929534912,
                    "z": 0.06880519539117813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005640983581543,
                "transform": {
                    "location": {
                        "x": 2972.458740234375,
                        "y": 4265.92724609375,
                        "z": 361.1039733886719
                    },
                    "rotation": {
                        "roll": 0.0002595603000372648,
                        "pitch": 0.49776366353034973,
                        "yaw": 9.189674377441406
                    }
                },
                "velocity": {
                    "x": 7.902616500854492,
                    "y": 1.2783225774765015,
                    "z": 0.0695187970995903
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3839,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3012.9892578125,
                        "y": 4275.6767578125,
                        "z": 361.4515686035156
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3838,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 3013.4921875,
                        "y": 4272.46533203125,
                        "z": 361.4513854980469
                    },
                    "rotation": {
                        "roll": -3.3352034467526437e-09,
                        "pitch": 0.5435532331466675,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2899620532989502,
                "transform": {
                    "location": {
                        "x": 2964.17431640625,
                        "y": 4257.80224609375,
                        "z": 360.99542236328125
                    },
                    "rotation": {
                        "roll": -0.0070495568215847015,
                        "pitch": -0.703946590423584,
                        "yaw": -170.48760986328125
                    }
                },
                "velocity": {
                    "x": -1.2729469537734985,
                    "y": -0.20854304730892181,
                    "z": -0.010865850374102592
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.168198585510254,
                "transform": {
                    "location": {
                        "x": 2889.598388671875,
                        "y": 4252.5107421875,
                        "z": 360.44036865234375
                    },
                    "rotation": {
                        "roll": 0.0011839185608550906,
                        "pitch": 0.3940335810184479,
                        "yaw": 9.299277305603027
                    }
                },
                "velocity": {
                    "x": 8.061039924621582,
                    "y": 1.3176108598709106,
                    "z": 0.05486917495727539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.039012908935547,
                "transform": {
                    "location": {
                        "x": 2888.194091796875,
                        "y": 4255.572265625,
                        "z": 360.4402770996094
                    },
                    "rotation": {
                        "roll": 0.008403908461332321,
                        "pitch": 0.413028359413147,
                        "yaw": 9.329143524169922
                    }
                },
                "velocity": {
                    "x": 7.932908058166504,
                    "y": 1.3007041215896606,
                    "z": 0.05355428531765938
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.221258163452148,
                "transform": {
                    "location": {
                        "x": 2980.046875,
                        "y": 4263.681640625,
                        "z": 361.127685546875
                    },
                    "rotation": {
                        "roll": -0.0022277827374637127,
                        "pitch": -0.4977022111415863,
                        "yaw": -170.5117645263672
                    }
                },
                "velocity": {
                    "x": -8.109789848327637,
                    "y": -1.3472745418548584,
                    "z": -0.07246529310941696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.030129432678223,
                "transform": {
                    "location": {
                        "x": 2949.20556640625,
                        "y": 4255.37744140625,
                        "z": 360.8570251464844
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.3178360164165497,
                        "yaw": -170.78445434570312
                    }
                },
                "velocity": {
                    "x": -6.939571380615234,
                    "y": -1.1235427856445312,
                    "z": -0.05215800553560257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.147784233093262,
                "transform": {
                    "location": {
                        "x": 2941.4892578125,
                        "y": 4257.42138671875,
                        "z": 360.81475830078125
                    },
                    "rotation": {
                        "roll": 7.024385558906943e-05,
                        "pitch": -0.8448465466499329,
                        "yaw": -170.8247833251953
                    }
                },
                "velocity": {
                    "x": -7.055791854858398,
                    "y": -1.1418412923812866,
                    "z": -0.05306406319141388
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017292022705078,
                "transform": {
                    "location": {
                        "x": 2930.650146484375,
                        "y": 4259.1630859375,
                        "z": 360.72662353515625
                    },
                    "rotation": {
                        "roll": -0.00027465567109175026,
                        "pitch": 0.42012491822242737,
                        "yaw": 9.182388305664062
                    }
                },
                "velocity": {
                    "x": 7.914374351501465,
                    "y": 1.2791532278060913,
                    "z": 0.0585155189037323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040422439575195,
                "transform": {
                    "location": {
                        "x": 2930.2578125,
                        "y": 4262.390625,
                        "z": 360.73748779296875
                    },
                    "rotation": {
                        "roll": -0.0009155237930826843,
                        "pitch": 0.42319849133491516,
                        "yaw": 9.191337585449219
                    }
                },
                "velocity": {
                    "x": 7.936981678009033,
                    "y": 1.2841993570327759,
                    "z": 0.05959304794669151
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.648608684539795,
                "transform": {
                    "location": {
                        "x": 2892.11181640625,
                        "y": 4246.185546875,
                        "z": 360.4892883300781
                    },
                    "rotation": {
                        "roll": 0.0016596507048234344,
                        "pitch": -0.3243110179901123,
                        "yaw": -170.29306030273438
                    }
                },
                "velocity": {
                    "x": -5.570574760437012,
                    "y": -0.9348668456077576,
                    "z": -0.03874993696808815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.658074378967285,
                "transform": {
                    "location": {
                        "x": 2913.52294921875,
                        "y": 4252.896484375,
                        "z": 360.5979919433594
                    },
                    "rotation": {
                        "roll": 0.0004885535454377532,
                        "pitch": -0.3950854539871216,
                        "yaw": -170.8226776123047
                    }
                },
                "velocity": {
                    "x": -9.533864974975586,
                    "y": -1.5424715280532837,
                    "z": -0.06777969002723694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00024259107885882258,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 0.00039915883098728955,
                        "pitch": -0.3984937071800232,
                        "yaw": -170.8088836669922
                    }
                },
                "velocity": {
                    "x": -2.8800218387914356e-06,
                    "y": -9.767310075403657e-06,
                    "z": -0.00024237725301645696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.505318641662598,
                "transform": {
                    "location": {
                        "x": 2891.172119140625,
                        "y": 4249.28076171875,
                        "z": 360.45147705078125
                    },
                    "rotation": {
                        "roll": -0.001312258536927402,
                        "pitch": -0.47555190324783325,
                        "yaw": -170.8092041015625
                    }
                },
                "velocity": {
                    "x": -8.395918846130371,
                    "y": -1.3585633039474487,
                    "z": -0.05737404525279999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7707109451293945,
        "expert_target_speed": 0,
        "target_point": [
            45.110257172282125,
            9.673259835678945
        ],
        "target_point_next": [
            86.51144627446119,
            16.740161993606854
        ]
    },
    "465": {
        "acceleration": [
            -2.18994140625,
            -0.35758718848228455,
            -0.02278141677379608
        ],
        "angular_velocity": [
            -0.06860088557004929,
            -0.22195518016815186,
            5.528581619262695
        ],
        "forward_vector": [
            -0.999989926815033,
            -0.003962171729654074,
            -0.0021039231214672327
        ],
        "right_vector": [
            0.003960465546697378,
            -0.999991774559021,
            0.0008143928134813905
        ],
        "location": [
            2933.6787109375,
            4255.21533203125,
            360.74951171875
        ],
        "rotation": [
            -0.0466613806784153,
            -0.12054600566625595,
            -179.77297973632812
        ],
        "velocity": [
            -7.329533100128174,
            -0.07938995957374573,
            -0.05333730950951576
        ],
        "speed": 7.329963044351291,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.808563232421875,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2911.03369140625,
                4252.494140625,
                360.5799560546875
            ],
            "velocity": [
                -10.32485294342041,
                -1.6702172756195068,
                -0.07300461828708649
            ],
            "speed_kmh": 37.65358106050775,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995094299316406,
                "transform": {
                    "location": {
                        "x": 2973.9921875,
                        "y": 4269.4677734375,
                        "z": 361.0917053222656
                    },
                    "rotation": {
                        "roll": -0.0005798311904072762,
                        "pitch": 0.5017319917678833,
                        "yaw": 9.18787670135498
                    }
                },
                "velocity": {
                    "x": 7.892203330993652,
                    "y": 1.2765655517578125,
                    "z": 0.07097501307725906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042474746704102,
                "transform": {
                    "location": {
                        "x": 2974.439208984375,
                        "y": 4266.24755859375,
                        "z": 361.1214904785156
                    },
                    "rotation": {
                        "roll": 0.001195930177345872,
                        "pitch": 0.5068273544311523,
                        "yaw": 9.188702583312988
                    }
                },
                "velocity": {
                    "x": 7.938939094543457,
                    "y": 1.284317135810852,
                    "z": 0.07198898494243622
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7107326984405518,
                "transform": {
                    "location": {
                        "x": 2963.6728515625,
                        "y": 4257.720703125,
                        "z": 360.9869079589844
                    },
                    "rotation": {
                        "roll": 0.002470226725563407,
                        "pitch": -0.17220954596996307,
                        "yaw": -170.53085327148438
                    }
                },
                "velocity": {
                    "x": -2.6754326820373535,
                    "y": -0.4354572892189026,
                    "z": -0.022561535239219666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.016905784606934,
                "transform": {
                    "location": {
                        "x": 2891.5947265625,
                        "y": 4252.8369140625,
                        "z": 360.4541320800781
                    },
                    "rotation": {
                        "roll": 0.00016718001279514283,
                        "pitch": 0.38649988174438477,
                        "yaw": 9.270604133605957
                    }
                },
                "velocity": {
                    "x": 7.911968231201172,
                    "y": 1.2916396856307983,
                    "z": 0.05658726394176483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.127069473266602,
                "transform": {
                    "location": {
                        "x": 2890.205322265625,
                        "y": 4255.90185546875,
                        "z": 360.4540100097656
                    },
                    "rotation": {
                        "roll": 0.005244177766144276,
                        "pitch": 0.41337668895721436,
                        "yaw": 9.306356430053711
                    }
                },
                "velocity": {
                    "x": 8.020426750183105,
                    "y": 1.3110859394073486,
                    "z": 0.05535231530666351
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.049847602844238,
                "transform": {
                    "location": {
                        "x": 2977.9130859375,
                        "y": 4263.328125,
                        "z": 361.10833740234375
                    },
                    "rotation": {
                        "roll": -0.00030517514096572995,
                        "pitch": -0.48840630054473877,
                        "yaw": -170.6300048828125
                    }
                },
                "velocity": {
                    "x": -8.929643630981445,
                    "y": -1.4678750038146973,
                    "z": -0.08095046877861023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5683722496032715,
                "transform": {
                    "location": {
                        "x": 2947.53125,
                        "y": 4255.1064453125,
                        "z": 360.8450012207031
                    },
                    "rotation": {
                        "roll": -0.0008544909651391208,
                        "pitch": -0.42596471309661865,
                        "yaw": -170.79974365234375
                    }
                },
                "velocity": {
                    "x": -6.483725547790527,
                    "y": -1.0499458312988281,
                    "z": -0.04927872493863106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6312979459762573,
                "transform": {
                    "location": {
                        "x": 2940.331298828125,
                        "y": 4257.234375,
                        "z": 360.80572509765625
                    },
                    "rotation": {
                        "roll": -0.0014648421201854944,
                        "pitch": -1.4048742055892944,
                        "yaw": -170.80332946777344
                    }
                },
                "velocity": {
                    "x": -1.6103538274765015,
                    "y": -0.26021334528923035,
                    "z": -0.01350707933306694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069177627563477,
                "transform": {
                    "location": {
                        "x": 2932.635498046875,
                        "y": 4259.484375,
                        "z": 360.7413635253906
                    },
                    "rotation": {
                        "roll": 0.00016026367666199803,
                        "pitch": 0.422699898481369,
                        "yaw": 9.181469917297363
                    }
                },
                "velocity": {
                    "x": 7.9655656814575195,
                    "y": 1.2875301837921143,
                    "z": 0.06045932695269585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053367614746094,
                "transform": {
                    "location": {
                        "x": 2932.243408203125,
                        "y": 4262.7119140625,
                        "z": 360.7522888183594
                    },
                    "rotation": {
                        "roll": -0.0007019011536613107,
                        "pitch": 0.4243186414241791,
                        "yaw": 9.196867942810059
                    }
                },
                "velocity": {
                    "x": 7.949502944946289,
                    "y": 1.2878119945526123,
                    "z": 0.060631778091192245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.981064319610596,
                "transform": {
                    "location": {
                        "x": 2890.6083984375,
                        "y": 4245.93310546875,
                        "z": 360.4781494140625
                    },
                    "rotation": {
                        "roll": 0.001889340695925057,
                        "pitch": -0.23916588723659515,
                        "yaw": -170.43832397460938
                    }
                },
                "velocity": {
                    "x": -6.885773658752441,
                    "y": -1.1485254764556885,
                    "z": -0.04761518910527229
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.459327697753906,
                "transform": {
                    "location": {
                        "x": 2911.03369140625,
                        "y": 4252.494140625,
                        "z": 360.5799560546875
                    },
                    "rotation": {
                        "roll": 0.0009249116410501301,
                        "pitch": -0.3579702079296112,
                        "yaw": -170.79942321777344
                    }
                },
                "velocity": {
                    "x": -10.32485294342041,
                    "y": -1.6702172756195068,
                    "z": -0.07300461828708649
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004573703627102077,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 2.6267513021593913e-05,
                        "pitch": -0.39837759733200073,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": -1.4309584912552964e-05,
                    "y": -8.741869532968849e-05,
                    "z": -0.000448710226919502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.376744270324707,
                "transform": {
                    "location": {
                        "x": 2888.973876953125,
                        "y": 4248.92529296875,
                        "z": 360.43670654296875
                    },
                    "rotation": {
                        "roll": -0.001037598354741931,
                        "pitch": -0.30779561400413513,
                        "yaw": -170.80462646484375
                    }
                },
                "velocity": {
                    "x": -9.256064414978027,
                    "y": -1.4981659650802612,
                    "z": -0.06401155143976212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.38874244689941406,
        "expert_target_speed": 0,
        "target_point": [
            43.46268444029027,
            9.103728693669199
        ],
        "target_point_next": [
            84.94963677340739,
            15.648371639910412
        ]
    },
    "470": {
        "acceleration": [
            -2.0915699005126953,
            -0.4810866713523865,
            -0.004034414887428284
        ],
        "angular_velocity": [
            -0.0454634428024292,
            -0.09639132767915726,
            0.4717111885547638
        ],
        "forward_vector": [
            -0.9998655319213867,
            -0.0161653570830822,
            -0.002766963094472885
        ],
        "right_vector": [
            0.016162065789103508,
            -0.9998686909675598,
            0.0012080048909410834
        ],
        "location": [
            2931.776611328125,
            4255.18505859375,
            360.73583984375
        ],
        "rotation": [
            -0.0692138671875,
            -0.15853551030158997,
            -179.07374572753906
        ],
        "velocity": [
            -7.865150451660156,
            -0.18320433795452118,
            -0.05668771639466286
        ],
        "speed": 7.867283867809482,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.4601993560791,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2908.5224609375,
                4252.08740234375,
                360.5626220703125
            ],
            "velocity": [
                -9.748330116271973,
                -1.5770678520202637,
                -0.06892754882574081
            ],
            "speed_kmh": 35.551131762320985,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054556846618652,
                "transform": {
                    "location": {
                        "x": 2975.97314453125,
                        "y": 4269.7880859375,
                        "z": 361.1094970703125
                    },
                    "rotation": {
                        "roll": 1.6692592907929793e-05,
                        "pitch": 0.5064585208892822,
                        "yaw": 9.187820434570312
                    }
                },
                "velocity": {
                    "x": 7.950893402099609,
                    "y": 1.2860560417175293,
                    "z": 0.0724518746137619
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.005816459655762,
                "transform": {
                    "location": {
                        "x": 2976.419189453125,
                        "y": 4266.56787109375,
                        "z": 361.13922119140625
                    },
                    "rotation": {
                        "roll": -0.0008850083686411381,
                        "pitch": 0.5121138691902161,
                        "yaw": 9.188782691955566
                    }
                },
                "velocity": {
                    "x": 7.902765274047852,
                    "y": 1.2783812284469604,
                    "z": 0.07168111950159073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2852.686279296875,
                        "y": 4246.4453125,
                        "z": 360.5658874511719
                    },
                    "rotation": {
                        "roll": 6.670300312094923e-09,
                        "pitch": 0.43722087144851685,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2852.166748046875,
                        "y": 4249.65380859375,
                        "z": 360.5658874511719
                    },
                    "rotation": {
                        "roll": 6.670300312094923e-09,
                        "pitch": 0.43722087144851685,
                        "yaw": 9.191606521606445
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.753605365753174,
                "transform": {
                    "location": {
                        "x": 2962.75244140625,
                        "y": 4257.56982421875,
                        "z": 360.9774475097656
                    },
                    "rotation": {
                        "roll": 0.00462663359940052,
                        "pitch": 0.03783241659402847,
                        "yaw": -170.6239013671875
                    }
                },
                "velocity": {
                    "x": -4.691938877105713,
                    "y": -0.7622052431106567,
                    "z": -0.038963258266448975
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049161911010742,
                "transform": {
                    "location": {
                        "x": 2893.5712890625,
                        "y": 4253.1591796875,
                        "z": 360.4678039550781
                    },
                    "rotation": {
                        "roll": 0.001041591283865273,
                        "pitch": 0.3899286389350891,
                        "yaw": 9.24826717376709
                    }
                },
                "velocity": {
                    "x": 7.944521903991699,
                    "y": 1.2924762964248657,
                    "z": 0.05553828924894333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.944669246673584,
                "transform": {
                    "location": {
                        "x": 2892.18017578125,
                        "y": 4256.22412109375,
                        "z": 360.4676818847656
                    },
                    "rotation": {
                        "roll": 0.003916700836271048,
                        "pitch": 0.36913755536079407,
                        "yaw": 9.25082778930664
                    }
                },
                "velocity": {
                    "x": 7.841248989105225,
                    "y": 1.2766249179840088,
                    "z": 0.052979860454797745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.8475980758667,
                "transform": {
                    "location": {
                        "x": 2975.579345703125,
                        "y": 4262.9453125,
                        "z": 361.0873718261719
                    },
                    "rotation": {
                        "roll": 9.845433669397607e-05,
                        "pitch": -0.4879418611526489,
                        "yaw": -170.6984100341797
                    }
                },
                "velocity": {
                    "x": -9.717822074890137,
                    "y": -1.591135025024414,
                    "z": -0.08607892692089081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.855901718139648,
                "transform": {
                    "location": {
                        "x": 2945.875,
                        "y": 4254.8388671875,
                        "z": 360.83233642578125
                    },
                    "rotation": {
                        "roll": 0.0009768987074494362,
                        "pitch": -0.40982499718666077,
                        "yaw": -170.8058624267578
                    }
                },
                "velocity": {
                    "x": -6.767847061157227,
                    "y": -1.0940948724746704,
                    "z": -0.050919029861688614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009941967204213142,
                "transform": {
                    "location": {
                        "x": 2940.28564453125,
                        "y": 4257.2265625,
                        "z": 360.8055114746094
                    },
                    "rotation": {
                        "roll": -0.00042724161176010966,
                        "pitch": -0.9708225727081299,
                        "yaw": -170.80357360839844
                    }
                },
                "velocity": {
                    "x": 0.00966358371078968,
                    "y": 0.0015386813320219517,
                    "z": 0.001757930964231491
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017840385437012,
                "transform": {
                    "location": {
                        "x": 2934.620361328125,
                        "y": 4259.8056640625,
                        "z": 360.75616455078125
                    },
                    "rotation": {
                        "roll": -0.0004577651561703533,
                        "pitch": 0.42296627163887024,
                        "yaw": 9.18514347076416
                    }
                },
                "velocity": {
                    "x": 7.914819240570068,
                    "y": 1.2797837257385254,
                    "z": 0.059590671211481094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040377616882324,
                "transform": {
                    "location": {
                        "x": 2934.229248046875,
                        "y": 4263.0341796875,
                        "z": 360.7670593261719
                    },
                    "rotation": {
                        "roll": 0.0004040927451569587,
                        "pitch": 0.4239976406097412,
                        "yaw": 9.196473121643066
                    }
                },
                "velocity": {
                    "x": 7.9369425773620605,
                    "y": 1.2841532230377197,
                    "z": 0.05977901443839073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.185116767883301,
                "transform": {
                    "location": {
                        "x": 2888.988037109375,
                        "y": 4245.662109375,
                        "z": 360.4690246582031
                    },
                    "rotation": {
                        "roll": -0.0017395059112459421,
                        "pitch": -0.47146743535995483,
                        "yaw": -170.51622009277344
                    }
                },
                "velocity": {
                    "x": -5.1146345138549805,
                    "y": -0.8512879610061646,
                    "z": -0.03545501455664635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.875314712524414,
                "transform": {
                    "location": {
                        "x": 2908.5224609375,
                        "y": 4252.08740234375,
                        "z": 360.5626220703125
                    },
                    "rotation": {
                        "roll": 0.001595592126250267,
                        "pitch": -0.4185812771320343,
                        "yaw": -170.8248291015625
                    }
                },
                "velocity": {
                    "x": -9.748330116271973,
                    "y": -1.5770678520202637,
                    "z": -0.06892754882574081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004657770332414657,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 2.6267513021593913e-05,
                        "pitch": -0.39837759733200073,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": 3.1996517009247327e-06,
                    "y": 3.7698930100305006e-05,
                    "z": -0.0004642378771677613
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.572708129882812,
                "transform": {
                    "location": {
                        "x": 2886.5068359375,
                        "y": 4248.52587890625,
                        "z": 360.41986083984375
                    },
                    "rotation": {
                        "roll": -0.00012207054533064365,
                        "pitch": -0.22439901530742645,
                        "yaw": -170.79733276367188
                    }
                },
                "velocity": {
                    "x": -10.436445236206055,
                    "y": -1.6904596090316772,
                    "z": -0.07148167490959167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.275687038898468,
        "expert_target_speed": 10.0,
        "target_point": [
            41.668203937997156,
            8.57313762668063
        ],
        "target_point_next": [
            83.23193381420242,
            14.61101175272529
        ]
    },
    "475": {
        "acceleration": [
            -1.3169479370117188,
            -0.5403369665145874,
            -0.01736961305141449
        ],
        "angular_velocity": [
            -0.19415602087974548,
            -0.2360929250717163,
            6.089136123657227
        ],
        "forward_vector": [
            -0.9995014071464539,
            -0.031382136046886444,
            -0.0034732746426016092
        ],
        "right_vector": [
            0.03137581795454025,
            -0.999505877494812,
            0.0018588745733723044
        ],
        "location": [
            2929.752197265625,
            4255.125,
            360.7214050292969
        ],
        "rotation": [
            -0.10650637000799179,
            -0.1990043818950653,
            -178.20162963867188
        ],
        "velocity": [
            -8.280072212219238,
            -0.31613674759864807,
            -0.060038600116968155
        ],
        "speed": 8.286105133459715,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.91489601135254,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2906.08544921875,
                4251.693359375,
                360.54522705078125
            ],
            "velocity": [
                -9.923027992248535,
                -1.6052311658859253,
                -0.06888828426599503
            ],
            "speed_kmh": 36.18814783954255,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994853973388672,
                "transform": {
                    "location": {
                        "x": 2977.953125,
                        "y": 4270.1083984375,
                        "z": 361.1274108886719
                    },
                    "rotation": {
                        "roll": 5.6461343774572015e-05,
                        "pitch": 0.5088832378387451,
                        "yaw": 9.187760353088379
                    }
                },
                "velocity": {
                    "x": 7.8919548988342285,
                    "y": 1.276523470878601,
                    "z": 0.07226758450269699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04176139831543,
                "transform": {
                    "location": {
                        "x": 2978.399658203125,
                        "y": 4266.888671875,
                        "z": 361.15716552734375
                    },
                    "rotation": {
                        "roll": -0.00015258484927471727,
                        "pitch": 0.5148528218269348,
                        "yaw": 9.197983741760254
                    }
                },
                "velocity": {
                    "x": 7.938052654266357,
                    "y": 1.2852941751480103,
                    "z": 0.07256894558668137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2853.956787109375,
                        "y": 4246.650390625,
                        "z": 360.3238525390625
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2853.436767578125,
                        "y": 4249.85888671875,
                        "z": 360.3238525390625
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.939903259277344,
                "transform": {
                    "location": {
                        "x": 2961.43896484375,
                        "y": 4257.35595703125,
                        "z": 360.9685363769531
                    },
                    "rotation": {
                        "roll": 0.0032753811683505774,
                        "pitch": -0.17623935639858246,
                        "yaw": -170.71807861328125
                    }
                },
                "velocity": {
                    "x": -5.863266944885254,
                    "y": -0.9498708844184875,
                    "z": -0.04790427163243294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.103531837463379,
                "transform": {
                    "location": {
                        "x": 2895.569580078125,
                        "y": 4253.484375,
                        "z": 360.4815979003906
                    },
                    "rotation": {
                        "roll": -0.0006408689077943563,
                        "pitch": 0.39311152696609497,
                        "yaw": 9.226395606994629
                    }
                },
                "velocity": {
                    "x": 7.9987359046936035,
                    "y": 1.297783374786377,
                    "z": 0.056646231561899185
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.080218315124512,
                "transform": {
                    "location": {
                        "x": 2894.1572265625,
                        "y": 4256.5458984375,
                        "z": 360.4812927246094
                    },
                    "rotation": {
                        "roll": 0.0020141631830483675,
                        "pitch": 0.40894389152526855,
                        "yaw": 9.255535125732422
                    }
                },
                "velocity": {
                    "x": 7.9751715660095215,
                    "y": 1.2975695133209229,
                    "z": 0.05373234674334526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.744524002075195,
                "transform": {
                    "location": {
                        "x": 2973.03515625,
                        "y": 4262.52978515625,
                        "z": 361.06475830078125
                    },
                    "rotation": {
                        "roll": 0.00034144785604439676,
                        "pitch": -0.47595489025115967,
                        "yaw": -170.74771118164062
                    }
                },
                "velocity": {
                    "x": -10.604620933532715,
                    "y": -1.7256897687911987,
                    "z": -0.09380599856376648
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.290645122528076,
                "transform": {
                    "location": {
                        "x": 2944.299072265625,
                        "y": 4254.58349609375,
                        "z": 360.821044921875
                    },
                    "rotation": {
                        "roll": -0.0011901818215847015,
                        "pitch": -0.4974358081817627,
                        "yaw": -170.8123321533203
                    }
                },
                "velocity": {
                    "x": -5.222611427307129,
                    "y": -0.8447865843772888,
                    "z": -0.03988899290561676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002662340411916375,
                "transform": {
                    "location": {
                        "x": 2940.28271484375,
                        "y": 4257.22607421875,
                        "z": 360.8056945800781
                    },
                    "rotation": {
                        "roll": -0.0008544961456209421,
                        "pitch": -0.5464150905609131,
                        "yaw": -170.80348205566406
                    }
                },
                "velocity": {
                    "x": 0.002466384554281831,
                    "y": 0.0003247761051170528,
                    "z": 0.0009484324255026877
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06871509552002,
                "transform": {
                    "location": {
                        "x": 2936.60546875,
                        "y": 4260.126953125,
                        "z": 360.7709655761719
                    },
                    "rotation": {
                        "roll": 0.001492530689574778,
                        "pitch": 0.424550861120224,
                        "yaw": 9.182503700256348
                    }
                },
                "velocity": {
                    "x": 7.965109825134277,
                    "y": 1.287467360496521,
                    "z": 0.06008442863821983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05327320098877,
                "transform": {
                    "location": {
                        "x": 2936.21484375,
                        "y": 4263.35546875,
                        "z": 360.7818603515625
                    },
                    "rotation": {
                        "roll": 0.0010226989397779107,
                        "pitch": 0.4258691072463989,
                        "yaw": 9.1912841796875
                    }
                },
                "velocity": {
                    "x": 7.949644088745117,
                    "y": 1.286390781402588,
                    "z": 0.059689462184906006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00539802759885788,
                "transform": {
                    "location": {
                        "x": 2888.37646484375,
                        "y": 4245.560546875,
                        "z": 360.4678039550781
                    },
                    "rotation": {
                        "roll": -0.0021667382679879665,
                        "pitch": -0.8542107343673706,
                        "yaw": -170.5277862548828
                    }
                },
                "velocity": {
                    "x": -0.0053184316493570805,
                    "y": -0.0007283783052116632,
                    "z": 0.000567849725484848
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.052263259887695,
                "transform": {
                    "location": {
                        "x": 2906.08544921875,
                        "y": 4251.693359375,
                        "z": 360.54522705078125
                    },
                    "rotation": {
                        "roll": 8.512925705872476e-05,
                        "pitch": -0.3953518271446228,
                        "yaw": -170.7974853515625
                    }
                },
                "velocity": {
                    "x": -9.923027992248535,
                    "y": -1.6052311658859253,
                    "z": -0.06888828426599503
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.166292198235169e-05,
                "transform": {
                    "location": {
                        "x": 2877.7783203125,
                        "y": 4243.9208984375,
                        "z": 360.3572998046875
                    },
                    "rotation": {
                        "roll": 2.6267513021593913e-05,
                        "pitch": -0.39837759733200073,
                        "yaw": -170.80894470214844
                    }
                },
                "velocity": {
                    "x": -1.1260658538958523e-05,
                    "y": -1.1286232393104e-06,
                    "z": -7.076367910485715e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.818380355834961,
                "transform": {
                    "location": {
                        "x": 2883.833984375,
                        "y": 4248.09326171875,
                        "z": 360.4012756347656
                    },
                    "rotation": {
                        "roll": 0.001846442581154406,
                        "pitch": -0.3199123740196228,
                        "yaw": -170.80738830566406
                    }
                },
                "velocity": {
                    "x": -10.679163932800293,
                    "y": -1.728435754776001,
                    "z": -0.07298514991998672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.095025435090065,
        "expert_target_speed": 10.0,
        "target_point": [
            39.7685631204971,
            7.941433855047253
        ],
        "target_point_next": [
            81.41937794749239,
            13.345986512896443
        ]
    },
    "480": {
        "acceleration": [
            -0.1590728759765625,
            -0.8126109838485718,
            -0.0141867995262146
        ],
        "angular_velocity": [
            -0.21541664004325867,
            -0.4278925359249115,
            2.5920886993408203
        ],
        "forward_vector": [
            -0.9987403750419617,
            -0.04992936551570892,
            -0.004961946979165077
        ],
        "right_vector": [
            0.049914345145225525,
            -0.9987486600875854,
            0.0031062669586390257
        ],
        "location": [
            2927.656494140625,
            4255.0263671875,
            360.7064514160156
        ],
        "rotation": [
            -0.17797847092151642,
            -0.2842997908592224,
            -177.13803100585938
        ],
        "velocity": [
            -8.436922073364258,
            -0.5046252608299255,
            -0.06109742820262909
        ],
        "speed": 8.451999806311445,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.428489685058594,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2903.51806640625,
                4251.27734375,
                360.5270080566406
            ],
            "velocity": [
                -10.434602737426758,
                -1.6894886493682861,
                -0.0717441514134407
            ],
            "speed_kmh": 38.054648548652544,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054924011230469,
                "transform": {
                    "location": {
                        "x": 2979.93408203125,
                        "y": 4270.4287109375,
                        "z": 361.1455078125
                    },
                    "rotation": {
                        "roll": -0.0002746661484707147,
                        "pitch": 0.5170589685440063,
                        "yaw": 9.188101768493652
                    }
                },
                "velocity": {
                    "x": 7.951259136199951,
                    "y": 1.2860745191574097,
                    "z": 0.0727761834859848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006087303161621,
                "transform": {
                    "location": {
                        "x": 2980.37939453125,
                        "y": 4267.20947265625,
                        "z": 361.17523193359375
                    },
                    "rotation": {
                        "roll": -0.0006408739718608558,
                        "pitch": 0.5244833827018738,
                        "yaw": 9.195050239562988
                    }
                },
                "velocity": {
                    "x": 7.902923583984375,
                    "y": 1.2790592908859253,
                    "z": 0.07236196100711823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2856.010498046875,
                        "y": 4246.98291015625,
                        "z": 360.2429504394531
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2855.490478515625,
                        "y": 4250.19091796875,
                        "z": 360.2430419921875
                    },
                    "rotation": {
                        "roll": -3.3351470474229927e-09,
                        "pitch": 0.4297964572906494,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.411727428436279,
                "transform": {
                    "location": {
                        "x": 2959.818359375,
                        "y": 4257.09326171875,
                        "z": 360.9552001953125
                    },
                    "rotation": {
                        "roll": 0.0012520181480795145,
                        "pitch": -0.17477087676525116,
                        "yaw": -170.7473907470703
                    }
                },
                "velocity": {
                    "x": -7.315927505493164,
                    "y": -1.1863118410110474,
                    "z": -0.059709079563617706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.018611907958984,
                "transform": {
                    "location": {
                        "x": 2897.555908203125,
                        "y": 4253.806640625,
                        "z": 360.4952697753906
                    },
                    "rotation": {
                        "roll": 4.295648523111595e-06,
                        "pitch": 0.3912537097930908,
                        "yaw": 9.219146728515625
                    }
                },
                "velocity": {
                    "x": 7.9148268699646,
                    "y": 1.284733533859253,
                    "z": 0.05575715750455856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03796672821045,
                "transform": {
                    "location": {
                        "x": 2896.149658203125,
                        "y": 4256.86962890625,
                        "z": 360.4949645996094
                    },
                    "rotation": {
                        "roll": 0.001165631809271872,
                        "pitch": 0.393097847700119,
                        "yaw": 9.213743209838867
                    }
                },
                "velocity": {
                    "x": 7.934042930603027,
                    "y": 1.2871824502944946,
                    "z": 0.05501540005207062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.645975112915039,
                "transform": {
                    "location": {
                        "x": 2970.269287109375,
                        "y": 4262.080078125,
                        "z": 361.0404968261719
                    },
                    "rotation": {
                        "roll": 0.0007373919943347573,
                        "pitch": -0.4721914529800415,
                        "yaw": -170.77609252929688
                    }
                },
                "velocity": {
                    "x": -11.495009422302246,
                    "y": -1.8664182424545288,
                    "z": -0.0999116599559784
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012386846356093884,
                "transform": {
                    "location": {
                        "x": 2943.776123046875,
                        "y": 4254.49951171875,
                        "z": 360.81854248046875
                    },
                    "rotation": {
                        "roll": -0.001251226058229804,
                        "pitch": -0.727749764919281,
                        "yaw": -170.81100463867188
                    }
                },
                "velocity": {
                    "x": 0.000360778794856742,
                    "y": 0.00011239734885748476,
                    "z": -0.0011796376202255487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.08666307479143143,
                "transform": {
                    "location": {
                        "x": 2940.2724609375,
                        "y": 4257.22412109375,
                        "z": 360.8056945800781
                    },
                    "rotation": {
                        "roll": -0.000335696036927402,
                        "pitch": -0.4331364333629608,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -0.0855514407157898,
                    "y": -0.01382925733923912,
                    "z": 0.00043642043601721525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01745319366455,
                "transform": {
                    "location": {
                        "x": 2938.59033203125,
                        "y": 4260.4482421875,
                        "z": 360.7857666015625
                    },
                    "rotation": {
                        "roll": 0.0010789592051878572,
                        "pitch": 0.4236219823360443,
                        "yaw": 9.17961597442627
                    }
                },
                "velocity": {
                    "x": 7.914770126342773,
                    "y": 1.2776232957839966,
                    "z": 0.060338571667671204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040947914123535,
                "transform": {
                    "location": {
                        "x": 2938.200927734375,
                        "y": 4263.6767578125,
                        "z": 360.7966613769531
                    },
                    "rotation": {
                        "roll": 0.00040022406028583646,
                        "pitch": 0.42522022128105164,
                        "yaw": 9.188214302062988
                    }
                },
                "velocity": {
                    "x": 7.937547206878662,
                    "y": 1.2839362621307373,
                    "z": 0.06080324202775955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1886606216430664,
                "transform": {
                    "location": {
                        "x": 2888.232177734375,
                        "y": 4245.53662109375,
                        "z": 360.46337890625
                    },
                    "rotation": {
                        "roll": -0.0003967304073739797,
                        "pitch": -0.45491790771484375,
                        "yaw": -170.5271759033203
                    }
                },
                "velocity": {
                    "x": -1.1725208759307861,
                    "y": -0.19508525729179382,
                    "z": -0.007106265984475613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.570735931396484,
                "transform": {
                    "location": {
                        "x": 2903.51806640625,
                        "y": 4251.27734375,
                        "z": 360.5270080566406
                    },
                    "rotation": {
                        "roll": -0.0006713834009133279,
                        "pitch": -0.3682496249675751,
                        "yaw": -170.81472778320312
                    }
                },
                "velocity": {
                    "x": -10.434602737426758,
                    "y": -1.6894886493682861,
                    "z": -0.0717441514134407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5345081090927124,
                "transform": {
                    "location": {
                        "x": 2877.760009765625,
                        "y": 4243.91748046875,
                        "z": 360.357177734375
                    },
                    "rotation": {
                        "roll": -0.0036010765470564365,
                        "pitch": -0.3290101885795593,
                        "yaw": -170.784423828125
                    }
                },
                "velocity": {
                    "x": -0.526435911655426,
                    "y": -0.09248106926679611,
                    "z": -0.003380079288035631
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.350361824035645,
                "transform": {
                    "location": {
                        "x": 2881.224365234375,
                        "y": 4247.67138671875,
                        "z": 360.3832702636719
                    },
                    "rotation": {
                        "roll": 0.001753663644194603,
                        "pitch": -0.4299330711364746,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -10.217119216918945,
                    "y": -1.6539050340652466,
                    "z": -0.07107830047607422
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.028024161234498024,
        "expert_target_speed": 10.0,
        "target_point": [
            37.81110787876954,
            7.208001742176437
        ],
        "target_point_next": [
            79.55506699168352,
            11.838492295398925
        ]
    },
    "485": {
        "acceleration": [
            2.653942108154297,
            -0.6231951713562012,
            0.009027272462844849
        ],
        "angular_velocity": [
            -0.11577071249485016,
            -0.9319307804107666,
            8.273221969604492
        ],
        "forward_vector": [
            -0.9972063302993774,
            -0.07428283244371414,
            -0.00784401036798954
        ],
        "right_vector": [
            0.07425243407487869,
            -0.9972310066223145,
            0.004097934812307358
        ],
        "location": [
            2925.578369140625,
            4254.88037109375,
            360.6921081542969
        ],
        "rotation": [
            -0.2348022758960724,
            -0.44943326711654663,
            -175.73985290527344
        ],
        "velocity": [
            -8.0833101272583,
            -0.684638500213623,
            -0.05943752080202103
        ],
        "speed": 8.112251998638317,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.92435646057129,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2900.97998046875,
                4250.86669921875,
                360.5096740722656
            ],
            "velocity": [
                -9.908088684082031,
                -1.6042232513427734,
                -0.07025329768657684
            ],
            "speed_kmh": 36.13451274368512,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.99569845199585,
                "transform": {
                    "location": {
                        "x": 2981.914306640625,
                        "y": 4270.74951171875,
                        "z": 361.1637268066406
                    },
                    "rotation": {
                        "roll": -0.00033569021616131067,
                        "pitch": 0.5194085240364075,
                        "yaw": 9.195185661315918
                    }
                },
                "velocity": {
                    "x": 7.892601013183594,
                    "y": 1.2778066396713257,
                    "z": 0.07244590669870377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042287826538086,
                "transform": {
                    "location": {
                        "x": 2982.359619140625,
                        "y": 4267.52978515625,
                        "z": 361.1934814453125
                    },
                    "rotation": {
                        "roll": -0.0005187960341572762,
                        "pitch": 0.5256786346435547,
                        "yaw": 9.194354057312012
                    }
                },
                "velocity": {
                    "x": 7.938637733459473,
                    "y": 1.2849695682525635,
                    "z": 0.07258214801549911
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.73504114151001,
                "transform": {
                    "location": {
                        "x": 2857.953125,
                        "y": 4247.2978515625,
                        "z": 360.2318420410156
                    },
                    "rotation": {
                        "roll": -0.009216304868459702,
                        "pitch": 0.19916830956935883,
                        "yaw": 9.234214782714844
                    }
                },
                "velocity": {
                    "x": 6.645423889160156,
                    "y": 1.0949785709381104,
                    "z": -0.01190755795687437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.772675037384033,
                "transform": {
                    "location": {
                        "x": 2857.433349609375,
                        "y": 4250.5068359375,
                        "z": 360.2325439453125
                    },
                    "rotation": {
                        "roll": -0.01712035946547985,
                        "pitch": 0.14014863967895508,
                        "yaw": 9.248542785644531
                    }
                },
                "velocity": {
                    "x": 6.681502342224121,
                    "y": 1.107527256011963,
                    "z": -0.006167211569845676
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.76654052734375,
                "transform": {
                    "location": {
                        "x": 2957.941162109375,
                        "y": 4256.7890625,
                        "z": 360.94073486328125
                    },
                    "rotation": {
                        "roll": 0.000419005926232785,
                        "pitch": -0.275789350271225,
                        "yaw": -170.75051879882812
                    }
                },
                "velocity": {
                    "x": -7.666508674621582,
                    "y": -1.24091374874115,
                    "z": -0.06269130855798721
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093009948730469,
                "transform": {
                    "location": {
                        "x": 2899.544189453125,
                        "y": 4254.12939453125,
                        "z": 360.50909423828125
                    },
                    "rotation": {
                        "roll": -0.000427247112384066,
                        "pitch": 0.3946414887905121,
                        "yaw": 9.20857048034668
                    }
                },
                "velocity": {
                    "x": 7.988763332366943,
                    "y": 1.2935585975646973,
                    "z": 0.05641811341047287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.012816429138184,
                "transform": {
                    "location": {
                        "x": 2898.126220703125,
                        "y": 4257.1904296875,
                        "z": 360.5086669921875
                    },
                    "rotation": {
                        "roll": 0.002122510690242052,
                        "pitch": 0.391663521528244,
                        "yaw": 9.227827072143555
                    }
                },
                "velocity": {
                    "x": 7.909209251403809,
                    "y": 1.2831449508666992,
                    "z": 0.056384943425655365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.324380874633789,
                "transform": {
                    "location": {
                        "x": 2967.286376953125,
                        "y": 4261.595703125,
                        "z": 361.01483154296875
                    },
                    "rotation": {
                        "roll": 0.0008274171850644052,
                        "pitch": -0.4646919071674347,
                        "yaw": -170.78895568847656
                    }
                },
                "velocity": {
                    "x": -12.164978981018066,
                    "y": -1.9730405807495117,
                    "z": -0.10378582775592804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1613024473190308,
                "transform": {
                    "location": {
                        "x": 2943.5546875,
                        "y": 4254.462890625,
                        "z": 360.8153076171875
                    },
                    "rotation": {
                        "roll": -0.001129148993641138,
                        "pitch": -0.461789071559906,
                        "yaw": -170.81967163085938
                    }
                },
                "velocity": {
                    "x": -1.1462862491607666,
                    "y": -0.18595796823501587,
                    "z": -0.008418874815106392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0155410766601562,
                "transform": {
                    "location": {
                        "x": 2940.138427734375,
                        "y": 4257.20263671875,
                        "z": 360.8047180175781
                    },
                    "rotation": {
                        "roll": 0.0008641117601655424,
                        "pitch": -0.29110947251319885,
                        "yaw": -170.79379272460938
                    }
                },
                "velocity": {
                    "x": -1.0025887489318848,
                    "y": -0.16150277853012085,
                    "z": -0.007506790105253458
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069438934326172,
                "transform": {
                    "location": {
                        "x": 2940.575439453125,
                        "y": 4260.76904296875,
                        "z": 360.8005676269531
                    },
                    "rotation": {
                        "roll": -9.15563796297647e-05,
                        "pitch": 0.42317116260528564,
                        "yaw": 9.174488067626953
                    }
                },
                "velocity": {
                    "x": 7.966002464294434,
                    "y": 1.286466360092163,
                    "z": 0.06047801673412323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052498817443848,
                "transform": {
                    "location": {
                        "x": 2940.186767578125,
                        "y": 4263.998046875,
                        "z": 360.81146240234375
                    },
                    "rotation": {
                        "roll": -0.0003967255470342934,
                        "pitch": 0.4261764585971832,
                        "yaw": 9.18808650970459
                    }
                },
                "velocity": {
                    "x": 7.948971271514893,
                    "y": 1.2856956720352173,
                    "z": 0.059819936752319336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1312549114227295,
                "transform": {
                    "location": {
                        "x": 2887.827392578125,
                        "y": 4245.46923828125,
                        "z": 360.45947265625
                    },
                    "rotation": {
                        "roll": -0.0026245093904435635,
                        "pitch": -0.3208276331424713,
                        "yaw": -170.5039825439453
                    }
                },
                "velocity": {
                    "x": -2.102315902709961,
                    "y": -0.34973663091659546,
                    "z": -0.014129704795777798
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.037364959716797,
                "transform": {
                    "location": {
                        "x": 2900.97998046875,
                        "y": 4250.86669921875,
                        "z": 360.5096740722656
                    },
                    "rotation": {
                        "roll": -0.0008850128506310284,
                        "pitch": -0.4141826629638672,
                        "yaw": -170.78964233398438
                    }
                },
                "velocity": {
                    "x": -9.908088684082031,
                    "y": -1.6042232513427734,
                    "z": -0.07025329768657684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.034250020980835,
                "transform": {
                    "location": {
                        "x": 2877.4150390625,
                        "y": 4243.857421875,
                        "z": 360.3548889160156
                    },
                    "rotation": {
                        "roll": -0.004058837890625,
                        "pitch": -0.1406882256269455,
                        "yaw": -170.6310577392578
                    }
                },
                "velocity": {
                    "x": -2.0058529376983643,
                    "y": -0.3384421467781067,
                    "z": -0.013564348220825195
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.284577369689941,
                "transform": {
                    "location": {
                        "x": 2878.68994140625,
                        "y": 4247.2607421875,
                        "z": 360.3656921386719
                    },
                    "rotation": {
                        "roll": 1.1546250789251644e-05,
                        "pitch": -0.4113754332065582,
                        "yaw": -170.80355834960938
                    }
                },
                "velocity": {
                    "x": -10.152006149291992,
                    "y": -1.6444354057312012,
                    "z": -0.07165956497192383
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1176372766494751,
        "expert_target_speed": 8.691943558964203,
        "target_point": [
            35.892501498910455,
            6.2920203884691865
        ],
        "target_point_next": [
            77.73701882106563,
            9.902551548834746
        ]
    },
    "490": {
        "acceleration": [
            3.2177066802978516,
            -0.4041433334350586,
            0.04708640277385712
        ],
        "angular_velocity": [
            0.00455652317032218,
            -0.5420499444007874,
            2.5560145378112793
        ],
        "forward_vector": [
            -0.9951013922691345,
            -0.09819836914539337,
            -0.011412371881306171
        ],
        "right_vector": [
            0.09815370291471481,
            -0.9951615333557129,
            0.004412021487951279
        ],
        "location": [
            2923.6640625,
            4254.697265625,
            360.6789855957031
        ],
        "rotation": [
            -0.25280749797821045,
            -0.6538949608802795,
            -174.36419677734375
        ],
        "velocity": [
            -7.269542217254639,
            -0.8072286248207092,
            -0.0525914803147316
        ],
        "speed": 7.314223273949013,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.474925994873047,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2898.542724609375,
                4250.4716796875,
                360.4927673339844
            ],
            "velocity": [
                -9.59740924835205,
                -1.5532902479171753,
                -0.06746111065149307
            ],
            "speed_kmh": 35.00109620217596,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.054357528686523,
                "transform": {
                    "location": {
                        "x": 2983.89501953125,
                        "y": 4271.07080078125,
                        "z": 361.1820983886719
                    },
                    "rotation": {
                        "roll": 8.601789886597544e-05,
                        "pitch": 0.5201939940452576,
                        "yaw": 9.195649147033691
                    }
                },
                "velocity": {
                    "x": 7.950520038604736,
                    "y": 1.2871061563491821,
                    "z": 0.07254747301340103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00589370727539,
                "transform": {
                    "location": {
                        "x": 2984.339599609375,
                        "y": 4267.85009765625,
                        "z": 361.21185302734375
                    },
                    "rotation": {
                        "roll": -0.00027466329629532993,
                        "pitch": 0.5283151268959045,
                        "yaw": 9.19424819946289
                    }
                },
                "velocity": {
                    "x": 7.902718544006348,
                    "y": 1.27909517288208,
                    "z": 0.07272376865148544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.922854423522949,
                "transform": {
                    "location": {
                        "x": 2859.638427734375,
                        "y": 4247.58251953125,
                        "z": 360.2347717285156
                    },
                    "rotation": {
                        "roll": -0.01364135555922985,
                        "pitch": 0.35216453671455383,
                        "yaw": 9.60412311553955
                    }
                },
                "velocity": {
                    "x": 6.823427200317383,
                    "y": 1.1686217784881592,
                    "z": 0.032850492745637894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.948814868927002,
                "transform": {
                    "location": {
                        "x": 2859.126708984375,
                        "y": 4250.79345703125,
                        "z": 360.2363586425781
                    },
                    "rotation": {
                        "roll": -0.02288818359375,
                        "pitch": 0.33333370089530945,
                        "yaw": 9.597233772277832
                    }
                },
                "velocity": {
                    "x": 6.848588943481445,
                    "y": 1.175461769104004,
                    "z": 0.03383699432015419
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6454756259918213,
                "transform": {
                    "location": {
                        "x": 2956.556396484375,
                        "y": 4256.56494140625,
                        "z": 360.9381103515625
                    },
                    "rotation": {
                        "roll": -0.0011901865946128964,
                        "pitch": -1.355403184890747,
                        "yaw": -170.78900146484375
                    }
                },
                "velocity": {
                    "x": -2.6114108562469482,
                    "y": -0.42253443598747253,
                    "z": -0.02322344295680523
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043880462646484,
                "transform": {
                    "location": {
                        "x": 2901.5361328125,
                        "y": 4254.45166015625,
                        "z": 360.52301025390625
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.3952561914920807,
                        "yaw": 9.192670822143555
                    }
                },
                "velocity": {
                    "x": 7.940378665924072,
                    "y": 1.2850043773651123,
                    "z": 0.056291770190000534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057305335998535,
                "transform": {
                    "location": {
                        "x": 2900.11083984375,
                        "y": 4257.51220703125,
                        "z": 360.5224914550781
                    },
                    "rotation": {
                        "roll": 0.0004992499598301947,
                        "pitch": 0.40563124418258667,
                        "yaw": 9.1979398727417
                    }
                },
                "velocity": {
                    "x": 7.9532012939453125,
                    "y": 1.2898021936416626,
                    "z": 0.05624263733625412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.513477325439453,
                "transform": {
                    "location": {
                        "x": 2964.1875,
                        "y": 4261.09375,
                        "z": 360.9886169433594
                    },
                    "rotation": {
                        "roll": 0.000416292023146525,
                        "pitch": -0.47003310918807983,
                        "yaw": -170.7951202392578
                    }
                },
                "velocity": {
                    "x": -12.351869583129883,
                    "y": -2.001936197280884,
                    "z": -0.10332673043012619
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5585644245147705,
                "transform": {
                    "location": {
                        "x": 2943.2568359375,
                        "y": 4254.4150390625,
                        "z": 360.8126220703125
                    },
                    "rotation": {
                        "roll": 0.0005922371638007462,
                        "pitch": -0.40939468145370483,
                        "yaw": -170.78651428222656
                    }
                },
                "velocity": {
                    "x": -1.538733959197998,
                    "y": -0.2475779503583908,
                    "z": -0.011234436184167862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1725807189941406,
                "transform": {
                    "location": {
                        "x": 2939.7470703125,
                        "y": 4257.13916015625,
                        "z": 360.80181884765625
                    },
                    "rotation": {
                        "roll": 0.00014376509352587163,
                        "pitch": -0.2099599987268448,
                        "yaw": -170.79966735839844
                    }
                },
                "velocity": {
                    "x": -2.144603967666626,
                    "y": -0.34715381264686584,
                    "z": -0.016260899603366852
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016389846801758,
                "transform": {
                    "location": {
                        "x": 2942.560302734375,
                        "y": 4261.09033203125,
                        "z": 360.81549072265625
                    },
                    "rotation": {
                        "roll": 0.0006255498738028109,
                        "pitch": 0.4262174367904663,
                        "yaw": 9.185530662536621
                    }
                },
                "velocity": {
                    "x": 7.913336753845215,
                    "y": 1.2798142433166504,
                    "z": 0.060682304203510284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04096794128418,
                "transform": {
                    "location": {
                        "x": 2942.17236328125,
                        "y": 4264.3193359375,
                        "z": 360.8264465332031
                    },
                    "rotation": {
                        "roll": -0.0007324249017983675,
                        "pitch": 0.42954373359680176,
                        "yaw": 9.191980361938477
                    }
                },
                "velocity": {
                    "x": 7.937496185302734,
                    "y": 1.284396767616272,
                    "z": 0.060337960720062256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5096780061721802,
                "transform": {
                    "location": {
                        "x": 2887.34521484375,
                        "y": 4245.390625,
                        "z": 360.45751953125
                    },
                    "rotation": {
                        "roll": -0.005798339378088713,
                        "pitch": -0.47497814893722534,
                        "yaw": -170.35214233398438
                    }
                },
                "velocity": {
                    "x": -0.5034056901931763,
                    "y": -0.07965563237667084,
                    "z": -0.003052577842026949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.722527503967285,
                "transform": {
                    "location": {
                        "x": 2898.542724609375,
                        "y": 4250.4716796875,
                        "z": 360.4927673339844
                    },
                    "rotation": {
                        "roll": 0.00016218451492022723,
                        "pitch": -0.4136635661125183,
                        "yaw": -170.8197784423828
                    }
                },
                "velocity": {
                    "x": -9.59740924835205,
                    "y": -1.5532902479171753,
                    "z": -0.06746111065149307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6492295265197754,
                "transform": {
                    "location": {
                        "x": 2876.71533203125,
                        "y": 4243.73828125,
                        "z": 360.3500061035156
                    },
                    "rotation": {
                        "roll": -0.0037841792218387127,
                        "pitch": -0.08108799904584885,
                        "yaw": -170.5256805419922
                    }
                },
                "velocity": {
                    "x": -3.5974435806274414,
                    "y": -0.6120964288711548,
                    "z": -0.024780524894595146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.454290390014648,
                "transform": {
                    "location": {
                        "x": 2876.2314453125,
                        "y": 4246.8623046875,
                        "z": 360.348388671875
                    },
                    "rotation": {
                        "roll": -0.00012206424435134977,
                        "pitch": -0.49938926100730896,
                        "yaw": -170.8002471923828
                    }
                },
                "velocity": {
                    "x": -9.332405090332031,
                    "y": -1.5117722749710083,
                    "z": -0.06599541008472443
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17136935889720917,
        "expert_target_speed": 8.073194925584021,
        "target_point": [
            34.11017388919313,
            5.434311469402873
        ],
        "target_point_next": [
            76.02930903768964,
            8.039244018663865
        ]
    },
    "495": {
        "acceleration": [
            2.6476383209228516,
            -0.26458740234375,
            0.005551502108573914
        ],
        "angular_velocity": [
            0.1705918312072754,
            -0.011735341511666775,
            8.073625564575195
        ],
        "forward_vector": [
            -0.9925525188446045,
            -0.12118551880121231,
            -0.012392441742122173
        ],
        "right_vector": [
            0.12114335596561432,
            -0.9926265478134155,
            0.004100941587239504
        ],
        "location": [
            2921.94189453125,
            4254.4892578125,
            360.666748046875
        ],
        "rotation": [
            -0.2349853366613388,
            -0.7100527882575989,
            -173.0389404296875
        ],
        "velocity": [
            -6.5566558837890625,
            -0.8867586851119995,
            -0.04820762574672699
        ],
        "speed": 6.616349245924621,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.048830032348633,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2896.265625,
                4250.103515625,
                360.4772033691406
            ],
            "velocity": [
                -8.559371948242188,
                -1.3861942291259766,
                -0.059791889041662216
            ],
            "speed_kmh": 31.215956356699937,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995014667510986,
                "transform": {
                    "location": {
                        "x": 2985.875,
                        "y": 4271.3916015625,
                        "z": 361.20050048828125
                    },
                    "rotation": {
                        "roll": -0.00012207141844555736,
                        "pitch": 0.5253439545631409,
                        "yaw": 9.190744400024414
                    }
                },
                "velocity": {
                    "x": 7.89231538772583,
                    "y": 1.275278925895691,
                    "z": 0.07267247885465622
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041844367980957,
                "transform": {
                    "location": {
                        "x": 2986.31982421875,
                        "y": 4268.17041015625,
                        "z": 361.230224609375
                    },
                    "rotation": {
                        "roll": 0.00035717623541131616,
                        "pitch": 0.5319145917892456,
                        "yaw": 9.194239616394043
                    }
                },
                "velocity": {
                    "x": 7.938195705413818,
                    "y": 1.284862995147705,
                    "z": 0.07371360808610916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.670424938201904,
                "transform": {
                    "location": {
                        "x": 2861.311767578125,
                        "y": 4247.8720703125,
                        "z": 360.2451171875
                    },
                    "rotation": {
                        "roll": -0.004913329612463713,
                        "pitch": 0.39905378222465515,
                        "yaw": 9.799630165100098
                    }
                },
                "velocity": {
                    "x": 6.572019100189209,
                    "y": 1.1406481266021729,
                    "z": 0.0452946275472641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.7111287117004395,
                "transform": {
                    "location": {
                        "x": 2860.80859375,
                        "y": 4251.083984375,
                        "z": 360.246826171875
                    },
                    "rotation": {
                        "roll": -0.009002679027616978,
                        "pitch": 0.3947370946407318,
                        "yaw": 9.782472610473633
                    }
                },
                "velocity": {
                    "x": 6.612110614776611,
                    "y": 1.1476571559906006,
                    "z": 0.04611940309405327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40440893173217773,
                "transform": {
                    "location": {
                        "x": 2956.419921875,
                        "y": 4256.54248046875,
                        "z": 360.9379577636719
                    },
                    "rotation": {
                        "roll": -0.0016479466576129198,
                        "pitch": -1.4988713264465332,
                        "yaw": -170.80162048339844
                    }
                },
                "velocity": {
                    "x": -0.39927661418914795,
                    "y": -0.06415673345327377,
                    "z": -0.00294742570258677
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0730562210083,
                "transform": {
                    "location": {
                        "x": 2903.52392578125,
                        "y": 4254.77294921875,
                        "z": 360.536865234375
                    },
                    "rotation": {
                        "roll": 0.0001264148741029203,
                        "pitch": 0.3960758149623871,
                        "yaw": 9.190678596496582
                    }
                },
                "velocity": {
                    "x": 7.969207763671875,
                    "y": 1.2894822359085083,
                    "z": 0.0565248467028141
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026123046875,
                "transform": {
                    "location": {
                        "x": 2902.095458984375,
                        "y": 4257.83349609375,
                        "z": 360.5363464355469
                    },
                    "rotation": {
                        "roll": 0.00018752783944364637,
                        "pitch": 0.39575478434562683,
                        "yaw": 9.219159126281738
                    }
                },
                "velocity": {
                    "x": 7.92256498336792,
                    "y": 1.2839329242706299,
                    "z": 0.05601750314235687
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.400171279907227,
                "transform": {
                    "location": {
                        "x": 2961.23779296875,
                        "y": 4260.61572265625,
                        "z": 360.9642028808594
                    },
                    "rotation": {
                        "roll": -0.00030517514096572995,
                        "pitch": -0.4885292649269104,
                        "yaw": -170.80438232421875
                    }
                },
                "velocity": {
                    "x": -11.253252983093262,
                    "y": -1.8219674825668335,
                    "z": -0.09294528514146805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1743022203445435,
                "transform": {
                    "location": {
                        "x": 2942.843994140625,
                        "y": 4254.34619140625,
                        "z": 360.8095703125
                    },
                    "rotation": {
                        "roll": 0.000383698265068233,
                        "pitch": -0.4214431345462799,
                        "yaw": -170.92654418945312
                    }
                },
                "velocity": {
                    "x": -1.1592509746551514,
                    "y": -0.18724974989891052,
                    "z": -0.007774162106215954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7583138942718506,
                "transform": {
                    "location": {
                        "x": 2939.009521484375,
                        "y": 4257.01953125,
                        "z": 360.7963562011719
                    },
                    "rotation": {
                        "roll": 0.0010664606234058738,
                        "pitch": -0.12066894769668579,
                        "yaw": -170.82093811035156
                    }
                },
                "velocity": {
                    "x": -3.7099545001983643,
                    "y": -0.6003016233444214,
                    "z": -0.02824483811855316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06912612915039,
                "transform": {
                    "location": {
                        "x": 2944.545166015625,
                        "y": 4261.41162109375,
                        "z": 360.8304748535156
                    },
                    "rotation": {
                        "roll": -0.0010070778662338853,
                        "pitch": 0.431442528963089,
                        "yaw": 9.186524391174316
                    }
                },
                "velocity": {
                    "x": 7.96541690826416,
                    "y": 1.288139820098877,
                    "z": 0.06021497771143913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0523042678833,
                "transform": {
                    "location": {
                        "x": 2944.158447265625,
                        "y": 4264.640625,
                        "z": 360.8414306640625
                    },
                    "rotation": {
                        "roll": -0.0007019020267762244,
                        "pitch": 0.4336965084075928,
                        "yaw": 9.185234069824219
                    }
                },
                "velocity": {
                    "x": 7.948838233947754,
                    "y": 1.2852569818496704,
                    "z": 0.060691963881254196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0782005786895752,
                "transform": {
                    "location": {
                        "x": 2887.211181640625,
                        "y": 4245.3681640625,
                        "z": 360.45599365234375
                    },
                    "rotation": {
                        "roll": -0.002471922431141138,
                        "pitch": -0.40246203541755676,
                        "yaw": -170.37205505371094
                    }
                },
                "velocity": {
                    "x": -1.0638974905014038,
                    "y": -0.1748785525560379,
                    "z": -0.0074853417463600636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.671098709106445,
                "transform": {
                    "location": {
                        "x": 2896.265625,
                        "y": 4250.103515625,
                        "z": 360.4772033691406
                    },
                    "rotation": {
                        "roll": -0.00018310666200704873,
                        "pitch": -0.44738420844078064,
                        "yaw": -170.80987548828125
                    }
                },
                "velocity": {
                    "x": -8.559371948242188,
                    "y": -1.3861942291259766,
                    "z": -0.059791889041662216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.1315016746521,
                "transform": {
                    "location": {
                        "x": 2875.621826171875,
                        "y": 4243.5517578125,
                        "z": 360.3424377441406
                    },
                    "rotation": {
                        "roll": -0.0069580078125,
                        "pitch": -0.0815456211566925,
                        "yaw": -170.40432739257812
                    }
                },
                "velocity": {
                    "x": -5.058069705963135,
                    "y": -0.8645197749137878,
                    "z": -0.029058294370770454
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.931066989898682,
                "transform": {
                    "location": {
                        "x": 2874.0947265625,
                        "y": 4246.5166015625,
                        "z": 360.33331298828125
                    },
                    "rotation": {
                        "roll": -9.155236330116168e-05,
                        "pitch": -0.6079345941543579,
                        "yaw": -170.81285095214844
                    }
                },
                "velocity": {
                    "x": -7.828967571258545,
                    "y": -1.267275094985962,
                    "z": -0.05571001023054123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1917804479598999,
        "expert_target_speed": 7.499750595458348,
        "target_point": [
            32.49205333935226,
            4.646188690599688
        ],
        "target_point_next": [
            74.46022308311463,
            6.280903816505333
        ]
    },
    "500": {
        "acceleration": [
            1.6325855255126953,
            -0.45690178871154785,
            0.010720640420913696
        ],
        "angular_velocity": [
            -0.14562265574932098,
            0.2566475570201874,
            2.3771820068359375
        ],
        "forward_vector": [
            -0.9896102547645569,
            -0.14329423010349274,
            -0.011757578700780869
        ],
        "right_vector": [
            0.14325416088104248,
            -0.9896770715713501,
            0.004187786020338535
        ],
        "location": [
            2920.37548828125,
            4254.2607421875,
            360.6553039550781
        ],
        "rotation": [
            -0.2399597465991974,
            -0.6736751794815063,
            -171.7609100341797
        ],
        "velocity": [
            -6.037750244140625,
            -0.984771192073822,
            -0.044638603925704956
        ],
        "speed": 6.117532371092013,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 26.505361557006836,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2894.252685546875,
                4249.77783203125,
                360.4632263183594
            ],
            "velocity": [
                -8.016627311706543,
                -1.2963030338287354,
                -0.056264571845531464
            ],
            "speed_kmh": 29.235431483598074,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.05473804473877,
                "transform": {
                    "location": {
                        "x": 2987.85595703125,
                        "y": 4271.7119140625,
                        "z": 361.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0022658936213701963,
                        "pitch": 0.5253098011016846,
                        "yaw": 9.188918113708496
                    }
                },
                "velocity": {
                    "x": 7.951029300689697,
                    "y": 1.286311149597168,
                    "z": 0.07306510955095291
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006101608276367,
                "transform": {
                    "location": {
                        "x": 2988.300048828125,
                        "y": 4268.49072265625,
                        "z": 361.2487487792969
                    },
                    "rotation": {
                        "roll": 0.0005455181235447526,
                        "pitch": 0.5314365029335022,
                        "yaw": 9.194223403930664
                    }
                },
                "velocity": {
                    "x": 7.902915000915527,
                    "y": 1.279213547706604,
                    "z": 0.07216815650463104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.724145889282227,
                "transform": {
                    "location": {
                        "x": 2862.816162109375,
                        "y": 4248.13134765625,
                        "z": 360.2557373046875
                    },
                    "rotation": {
                        "roll": 0.010425250977277756,
                        "pitch": 0.302652508020401,
                        "yaw": 9.755215644836426
                    }
                },
                "velocity": {
                    "x": 5.64271354675293,
                    "y": 0.9611918330192566,
                    "z": 0.041710928082466125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.608634948730469,
                "transform": {
                    "location": {
                        "x": 2862.265869140625,
                        "y": 4251.33447265625,
                        "z": 360.2572937011719
                    },
                    "rotation": {
                        "roll": 0.013248263858258724,
                        "pitch": 0.26499083638191223,
                        "yaw": 9.74716567993164
                    }
                },
                "velocity": {
                    "x": 5.529332160949707,
                    "y": 0.938949465751648,
                    "z": 0.040582798421382904
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9185184836387634,
                "transform": {
                    "location": {
                        "x": 2956.239013671875,
                        "y": 4256.51318359375,
                        "z": 360.9269104003906
                    },
                    "rotation": {
                        "roll": -0.0010070828720927238,
                        "pitch": -0.2780706584453583,
                        "yaw": -170.80987548828125
                    }
                },
                "velocity": {
                    "x": -0.9067869186401367,
                    "y": -0.14620822668075562,
                    "z": -0.006070785224437714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051112174987793,
                "transform": {
                    "location": {
                        "x": 2905.513916015625,
                        "y": 4255.0947265625,
                        "z": 360.5509033203125
                    },
                    "rotation": {
                        "roll": 0.0002841334498953074,
                        "pitch": 0.40034469962120056,
                        "yaw": 9.190532684326172
                    }
                },
                "velocity": {
                    "x": 7.947556495666504,
                    "y": 1.285898208618164,
                    "z": 0.05670760199427605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035110473632812,
                "transform": {
                    "location": {
                        "x": 2904.076171875,
                        "y": 4258.15380859375,
                        "z": 360.5502624511719
                    },
                    "rotation": {
                        "roll": 0.001075427862815559,
                        "pitch": 0.40328165888786316,
                        "yaw": 9.188913345336914
                    }
                },
                "velocity": {
                    "x": 7.931481838226318,
                    "y": 1.2850662469863892,
                    "z": 0.05652020499110222
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.215449333190918,
                "transform": {
                    "location": {
                        "x": 2958.580810546875,
                        "y": 4260.18603515625,
                        "z": 360.9424133300781
                    },
                    "rotation": {
                        "roll": -0.0005187998176552355,
                        "pitch": -0.4901685118675232,
                        "yaw": -170.81260681152344
                    }
                },
                "velocity": {
                    "x": -10.084213256835938,
                    "y": -1.6301321983337402,
                    "z": -0.08191102743148804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.004628300666809,
                "transform": {
                    "location": {
                        "x": 2942.501220703125,
                        "y": 4254.2919921875,
                        "z": 360.80706787109375
                    },
                    "rotation": {
                        "roll": -0.0003967287193518132,
                        "pitch": -0.4229457676410675,
                        "yaw": -170.87432861328125
                    }
                },
                "velocity": {
                    "x": -0.9918132424354553,
                    "y": -0.1597481369972229,
                    "z": -0.008058271370828152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.203555583953857,
                "transform": {
                    "location": {
                        "x": 2937.89404296875,
                        "y": 4256.83935546875,
                        "z": 360.7882385253906
                    },
                    "rotation": {
                        "roll": -6.103410487412475e-05,
                        "pitch": -0.1192004531621933,
                        "yaw": -170.82089233398438
                    }
                },
                "velocity": {
                    "x": -5.136839866638184,
                    "y": -0.8298801779747009,
                    "z": -0.034124705940485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0166654586792,
                "transform": {
                    "location": {
                        "x": 2946.5302734375,
                        "y": 4261.73291015625,
                        "z": 360.8455505371094
                    },
                    "rotation": {
                        "roll": -0.00039672577986493707,
                        "pitch": 0.4308619797229767,
                        "yaw": 9.18259334564209
                    }
                },
                "velocity": {
                    "x": 7.913710117340088,
                    "y": 1.2792649269104004,
                    "z": 0.059943292289972305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040589332580566,
                "transform": {
                    "location": {
                        "x": 2946.14404296875,
                        "y": 4264.96142578125,
                        "z": 360.8565673828125
                    },
                    "rotation": {
                        "roll": -9.154982399195433e-05,
                        "pitch": 0.43326619267463684,
                        "yaw": 9.18762493133545
                    }
                },
                "velocity": {
                    "x": 7.937212944030762,
                    "y": 1.283767819404602,
                    "z": 0.060550689697265625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8678581714630127,
                "transform": {
                    "location": {
                        "x": 2886.841064453125,
                        "y": 4245.3076171875,
                        "z": 360.4527282714844
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.32531505823135376,
                        "yaw": -170.41815185546875
                    }
                },
                "velocity": {
                    "x": -1.8431276082992554,
                    "y": -0.3027302026748657,
                    "z": -0.01136263832449913
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.120953559875488,
                "transform": {
                    "location": {
                        "x": 2894.252685546875,
                        "y": 4249.77783203125,
                        "z": 360.4632263183594
                    },
                    "rotation": {
                        "roll": 2.1021434804424644e-05,
                        "pitch": -0.43118298053741455,
                        "yaw": -170.8209228515625
                    }
                },
                "velocity": {
                    "x": -8.016627311706543,
                    "y": -1.2963030338287354,
                    "z": -0.056264571845531464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.87261962890625,
                "transform": {
                    "location": {
                        "x": 2874.253173828125,
                        "y": 4243.31787109375,
                        "z": 360.3328857421875
                    },
                    "rotation": {
                        "roll": -0.0025634756311774254,
                        "pitch": -0.19894291460514069,
                        "yaw": -170.46327209472656
                    }
                },
                "velocity": {
                    "x": -5.788735389709473,
                    "y": -0.9881722927093506,
                    "z": -0.04147719591856003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.932651519775391,
                "transform": {
                    "location": {
                        "x": 2872.3359375,
                        "y": 4246.23193359375,
                        "z": 360.3207092285156
                    },
                    "rotation": {
                        "roll": -0.000213619860005565,
                        "pitch": -0.7094448804855347,
                        "yaw": -170.8277587890625
                    }
                },
                "velocity": {
                    "x": -5.856497764587402,
                    "y": -0.9465901851654053,
                    "z": -0.041869692504405975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1751261204481125,
        "expert_target_speed": 7.072910088654239,
        "target_point": [
            31.004611494723314,
            3.918656754093199
        ],
        "target_point_next": [
            72.99880145448074,
            4.616922325293627
        ]
    },
    "505": {
        "acceleration": [
            1.0688209533691406,
            -0.4073476791381836,
            0.031130462884902954
        ],
        "angular_velocity": [
            0.04550725221633911,
            0.30106914043426514,
            8.9869966506958
        ],
        "forward_vector": [
            -0.9856579303741455,
            -0.16843754053115845,
            -0.010360531508922577
        ],
        "right_vector": [
            0.16840282082557678,
            -0.985709547996521,
            0.004142579156905413
        ],
        "location": [
            2918.9072265625,
            4254.00634765625,
            360.644287109375
        ],
        "rotation": [
            -0.2373657077550888,
            -0.5936253666877747,
            -170.302490234375
        ],
        "velocity": [
            -5.728692531585693,
            -1.0896497964859009,
            -0.04068417102098465
        ],
        "speed": 5.83140247285569,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.158863067626953,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2892.136474609375,
                4249.435546875,
                360.4480285644531
            ],
            "velocity": [
                -8.973383903503418,
                -1.4506886005401611,
                -0.06198311969637871
            ],
            "speed_kmh": 32.72436791922256,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2989.908447265625,
                        "y": 4271.9462890625,
                        "z": 361.2347106933594
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2990.3525390625,
                        "y": 4268.73095703125,
                        "z": 361.2369384765625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.912586688995361,
                "transform": {
                    "location": {
                        "x": 2864.248046875,
                        "y": 4248.3740234375,
                        "z": 360.2664794921875
                    },
                    "rotation": {
                        "roll": 0.007144532632082701,
                        "pitch": 0.4199336767196655,
                        "yaw": 9.62628173828125
                    }
                },
                "velocity": {
                    "x": 5.830055236816406,
                    "y": 0.9835529327392578,
                    "z": 0.04195929318666458
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.795821189880371,
                "transform": {
                    "location": {
                        "x": 2863.67578125,
                        "y": 4251.5732421875,
                        "z": 360.26776123046875
                    },
                    "rotation": {
                        "roll": 0.009809925220906734,
                        "pitch": 0.4120243191719055,
                        "yaw": 9.630539894104004
                    }
                },
                "velocity": {
                    "x": 5.7149505615234375,
                    "y": 0.9639266729354858,
                    "z": 0.04157455265522003
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8928127288818359,
                "transform": {
                    "location": {
                        "x": 2956.013916015625,
                        "y": 4256.4765625,
                        "z": 360.9252624511719
                    },
                    "rotation": {
                        "roll": 0.0007789473165757954,
                        "pitch": -0.2996130585670471,
                        "yaw": -170.81028747558594
                    }
                },
                "velocity": {
                    "x": -0.8813289403915405,
                    "y": -0.14261269569396973,
                    "z": -0.005961894989013672
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0759859085083,
                "transform": {
                    "location": {
                        "x": 2907.50390625,
                        "y": 4255.4169921875,
                        "z": 360.56494140625
                    },
                    "rotation": {
                        "roll": 0.0002721069613471627,
                        "pitch": 0.3999963402748108,
                        "yaw": 9.190530776977539
                    }
                },
                "velocity": {
                    "x": 7.972114562988281,
                    "y": 1.2898489236831665,
                    "z": 0.056722965091466904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040614128112793,
                "transform": {
                    "location": {
                        "x": 2906.060546875,
                        "y": 4258.47607421875,
                        "z": 360.5643005371094
                    },
                    "rotation": {
                        "roll": 0.00031305922311730683,
                        "pitch": 0.40434035658836365,
                        "yaw": 9.21242904663086
                    }
                },
                "velocity": {
                    "x": 7.937005996704102,
                    "y": 1.2853689193725586,
                    "z": 0.05687359720468521
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.730428695678711,
                "transform": {
                    "location": {
                        "x": 2956.2626953125,
                        "y": 4259.81103515625,
                        "z": 360.9236755371094
                    },
                    "rotation": {
                        "roll": -0.0013732978841289878,
                        "pitch": -0.4872110188007355,
                        "yaw": -170.82363891601562
                    }
                },
                "velocity": {
                    "x": -8.61843204498291,
                    "y": -1.3921619653701782,
                    "z": -0.06998825818300247
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0195958614349365,
                "transform": {
                    "location": {
                        "x": 2942.1640625,
                        "y": 4254.2373046875,
                        "z": 360.8045349121094
                    },
                    "rotation": {
                        "roll": -0.0010681160492822528,
                        "pitch": -0.41894328594207764,
                        "yaw": -170.89407348632812
                    }
                },
                "velocity": {
                    "x": -1.0061378479003906,
                    "y": -0.16491706669330597,
                    "z": -0.008053597994148731
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.655990123748779,
                "transform": {
                    "location": {
                        "x": 2936.545166015625,
                        "y": 4256.62158203125,
                        "z": 360.7781677246094
                    },
                    "rotation": {
                        "roll": 0.0006159616750665009,
                        "pitch": -0.2813696265220642,
                        "yaw": -170.8596954345703
                    }
                },
                "velocity": {
                    "x": -5.583490371704102,
                    "y": -0.901732861995697,
                    "z": -0.041702985763549805
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068489074707031,
                "transform": {
                    "location": {
                        "x": 2948.51513671875,
                        "y": 4262.0546875,
                        "z": 360.8608093261719
                    },
                    "rotation": {
                        "roll": 0.0009466495248489082,
                        "pitch": 0.4408476948738098,
                        "yaw": 9.182759284973145
                    }
                },
                "velocity": {
                    "x": 7.964842796325684,
                    "y": 1.2876403331756592,
                    "z": 0.061429984867572784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053239822387695,
                "transform": {
                    "location": {
                        "x": 2948.1298828125,
                        "y": 4265.28271484375,
                        "z": 360.8717956542969
                    },
                    "rotation": {
                        "roll": -0.0006103496416471899,
                        "pitch": 0.44304701685905457,
                        "yaw": 9.191777229309082
                    }
                },
                "velocity": {
                    "x": 7.949613094329834,
                    "y": 1.2863365411758423,
                    "z": 0.060523033142089844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4579641819000244,
                "transform": {
                    "location": {
                        "x": 2886.3212890625,
                        "y": 4245.220703125,
                        "z": 360.44970703125
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.38098108768463135,
                        "yaw": -170.5494384765625
                    }
                },
                "velocity": {
                    "x": -1.4387201070785522,
                    "y": -0.2359270602464676,
                    "z": -0.009065637364983559
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.090103149414062,
                "transform": {
                    "location": {
                        "x": 2892.136474609375,
                        "y": 4249.435546875,
                        "z": 360.4480285644531
                    },
                    "rotation": {
                        "roll": -0.0016479502664878964,
                        "pitch": -0.349036306142807,
                        "yaw": -170.8092803955078
                    }
                },
                "velocity": {
                    "x": -8.973383903503418,
                    "y": -1.4506886005401611,
                    "z": -0.06198311969637871
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.038049221038818,
                "transform": {
                    "location": {
                        "x": 2872.73388671875,
                        "y": 4243.05810546875,
                        "z": 360.3220520019531
                    },
                    "rotation": {
                        "roll": -0.003936767112463713,
                        "pitch": -0.16937501728534698,
                        "yaw": -170.42715454101562
                    }
                },
                "velocity": {
                    "x": -6.937097072601318,
                    "y": -1.1867207288742065,
                    "z": -0.05018003284931183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.01218318939209,
                "transform": {
                    "location": {
                        "x": 2871.33984375,
                        "y": 4246.0703125,
                        "z": 360.31304931640625
                    },
                    "rotation": {
                        "roll": -0.0035400467459112406,
                        "pitch": -0.8700294494628906,
                        "yaw": -170.6588592529297
                    }
                },
                "velocity": {
                    "x": -2.973121166229248,
                    "y": -0.48302310705184937,
                    "z": -0.022039588540792465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0948202833533287,
        "expert_target_speed": 6.824085038119394,
        "target_point": [
            29.60417104898752,
            3.1248289923523336
        ],
        "target_point_next": [
            71.60252913638521,
            2.7540417934994146
        ]
    },
    "510": {
        "acceleration": [
            0.9382343292236328,
            -0.6157350540161133,
            0.008193105459213257
        ],
        "angular_velocity": [
            -0.27164798974990845,
            0.08250968158245087,
            3.2099227905273438
        ],
        "forward_vector": [
            -0.9811055660247803,
            -0.19324487447738647,
            -0.009400347247719765
        ],
        "right_vector": [
            0.19320964813232422,
            -0.981147050857544,
            0.004530353005975485
        ],
        "location": [
            2917.5048828125,
            4253.72314453125,
            360.6340026855469
        ],
        "rotation": [
            -0.2595824599266052,
            -0.538608193397522,
            -168.85728454589844
        ],
        "velocity": [
            -5.490950584411621,
            -1.2186284065246582,
            -0.04035986214876175
        ],
        "speed": 5.6245527389863765,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.122385025024414,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2889.773681640625,
                4249.05322265625,
                360.4317932128906
            ],
            "velocity": [
                -9.501778602600098,
                -1.5365105867385864,
                -0.06471535563468933
            ],
            "speed_kmh": 34.65153804917235,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2991.96484375,
                        "y": 4272.27734375,
                        "z": 361.25384521484375
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2992.408935546875,
                        "y": 4269.06005859375,
                        "z": 361.2547302246094
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.989299774169922,
                "transform": {
                    "location": {
                        "x": 2865.950927734375,
                        "y": 4248.66015625,
                        "z": 360.2793273925781
                    },
                    "rotation": {
                        "roll": 0.005942094139754772,
                        "pitch": 0.6649734973907471,
                        "yaw": 9.563328742980957
                    }
                },
                "velocity": {
                    "x": 7.878602027893066,
                    "y": 1.32410728931427,
                    "z": 0.05728819593787193
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.117352485656738,
                "transform": {
                    "location": {
                        "x": 2865.4130859375,
                        "y": 4251.865234375,
                        "z": 360.2806091308594
                    },
                    "rotation": {
                        "roll": 0.007828709669411182,
                        "pitch": 0.7639976143836975,
                        "yaw": 9.564627647399902
                    }
                },
                "velocity": {
                    "x": 8.00484561920166,
                    "y": 1.3455173969268799,
                    "z": 0.05868367850780487
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.446710467338562,
                "transform": {
                    "location": {
                        "x": 2955.739501953125,
                        "y": 4256.4326171875,
                        "z": 360.9237365722656
                    },
                    "rotation": {
                        "roll": -0.00033569062361493707,
                        "pitch": -0.3834536373615265,
                        "yaw": -170.79721069335938
                    }
                },
                "velocity": {
                    "x": -1.4281774759292603,
                    "y": -0.23056931793689728,
                    "z": -0.010873183608055115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045702934265137,
                "transform": {
                    "location": {
                        "x": 2909.4931640625,
                        "y": 4255.73779296875,
                        "z": 360.57904052734375
                    },
                    "rotation": {
                        "roll": -0.0004272442020010203,
                        "pitch": 0.40270793437957764,
                        "yaw": 9.190402030944824
                    }
                },
                "velocity": {
                    "x": 7.94222354888916,
                    "y": 1.2849891185760498,
                    "z": 0.05684196203947067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031009674072266,
                "transform": {
                    "location": {
                        "x": 2908.04345703125,
                        "y": 4258.796875,
                        "z": 360.57830810546875
                    },
                    "rotation": {
                        "roll": 0.0010935977334156632,
                        "pitch": 0.40315189957618713,
                        "yaw": 9.187905311584473
                    }
                },
                "velocity": {
                    "x": 7.927421569824219,
                    "y": 1.284475564956665,
                    "z": 0.056790903210639954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.423885345458984,
                "transform": {
                    "location": {
                        "x": 2954.1796875,
                        "y": 4259.47509765625,
                        "z": 360.90679931640625
                    },
                    "rotation": {
                        "roll": -0.0008544952725060284,
                        "pitch": -0.46338048577308655,
                        "yaw": -170.8256378173828
                    }
                },
                "velocity": {
                    "x": -8.315865516662598,
                    "y": -1.3431086540222168,
                    "z": -0.06542067229747772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00033728673588484526,
                "transform": {
                    "location": {
                        "x": 2942.14990234375,
                        "y": 4254.234375,
                        "z": 360.8044738769531
                    },
                    "rotation": {
                        "roll": -0.0008850134327076375,
                        "pitch": -0.4746093153953552,
                        "yaw": -170.96070861816406
                    }
                },
                "velocity": {
                    "x": 0.00012048333883285522,
                    "y": 0.0003102172340732068,
                    "z": -5.48758362128865e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.251537799835205,
                "transform": {
                    "location": {
                        "x": 2935.028076171875,
                        "y": 4256.37646484375,
                        "z": 360.7668762207031
                    },
                    "rotation": {
                        "roll": 0.0011753083672374487,
                        "pitch": -0.11349724978208542,
                        "yaw": -170.83828735351562
                    }
                },
                "velocity": {
                    "x": -7.158803939819336,
                    "y": -1.1547633409500122,
                    "z": -0.05338525027036667
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01716423034668,
                "transform": {
                    "location": {
                        "x": 2950.5,
                        "y": 4262.3759765625,
                        "z": 360.8762512207031
                    },
                    "rotation": {
                        "roll": 0.0009619316551834345,
                        "pitch": 0.4448433518409729,
                        "yaw": 9.1826753616333
                    }
                },
                "velocity": {
                    "x": 7.914196014404297,
                    "y": 1.2793034315109253,
                    "z": 0.0616447813808918
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04011058807373,
                "transform": {
                    "location": {
                        "x": 2950.115966796875,
                        "y": 4265.6044921875,
                        "z": 360.88726806640625
                    },
                    "rotation": {
                        "roll": 0.0005949347978457808,
                        "pitch": 0.44625037908554077,
                        "yaw": 9.194076538085938
                    }
                },
                "velocity": {
                    "x": 7.936716556549072,
                    "y": 1.2838129997253418,
                    "z": 0.06102151796221733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9210196733474731,
                "transform": {
                    "location": {
                        "x": 2886.206787109375,
                        "y": 4245.201171875,
                        "z": 360.4493713378906
                    },
                    "rotation": {
                        "roll": 4.698889097198844e-05,
                        "pitch": -0.4306297302246094,
                        "yaw": -170.6123046875
                    }
                },
                "velocity": {
                    "x": -0.9088571667671204,
                    "y": -0.14907394349575043,
                    "z": -0.005727357696741819
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.62542724609375,
                "transform": {
                    "location": {
                        "x": 2889.773681640625,
                        "y": 4249.05322265625,
                        "z": 360.4317932128906
                    },
                    "rotation": {
                        "roll": -0.00033569600782357156,
                        "pitch": -0.3490021526813507,
                        "yaw": -170.82054138183594
                    }
                },
                "velocity": {
                    "x": -9.501778602600098,
                    "y": -1.5365105867385864,
                    "z": -0.06471535563468933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.9717864990234375,
                "transform": {
                    "location": {
                        "x": 2870.937744140625,
                        "y": 4242.75439453125,
                        "z": 360.30908203125
                    },
                    "rotation": {
                        "roll": 0.006790445651859045,
                        "pitch": -0.3553747236728668,
                        "yaw": -170.41720581054688
                    }
                },
                "velocity": {
                    "x": -6.8752288818359375,
                    "y": -1.1552094221115112,
                    "z": -0.05025673657655716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3683953285217285,
                "transform": {
                    "location": {
                        "x": 2870.427490234375,
                        "y": 4245.92236328125,
                        "z": 360.3072509765625
                    },
                    "rotation": {
                        "roll": -0.0005187980714254081,
                        "pitch": -0.3651692271232605,
                        "yaw": -170.71414184570312
                    }
                },
                "velocity": {
                    "x": -4.311708450317383,
                    "y": -0.7007889151573181,
                    "z": -0.03066023252904415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.022932805120944977,
        "expert_target_speed": 6.640038468282974,
        "target_point": [
            28.242927443878273,
            2.3703299155702364
        ],
        "target_point_next": [
            70.2185741469661,
            0.9404176659313741
        ]
    },
    "515": {
        "acceleration": [
            0.7645702362060547,
            -0.3482794761657715,
            0.004993006587028503
        ],
        "angular_velocity": [
            0.1340344250202179,
            0.12877747416496277,
            10.000770568847656
        ],
        "forward_vector": [
            -0.9746981859207153,
            -0.22334787249565125,
            -0.008895994164049625
        ],
        "right_vector": [
            0.22331242263317108,
            -0.9747350215911865,
            0.004809992387890816
        ],
        "location": [
            2916.158447265625,
            4253.40625,
            360.62408447265625
        ],
        "rotation": [
            -0.275604248046875,
            -0.5097096562385559,
            -167.09373474121094
        ],
        "velocity": [
            -5.281337261199951,
            -1.346867322921753,
            -0.03983047977089882
        ],
        "speed": 5.450373826820818,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.978116989135742,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2887.56640625,
                4248.6962890625,
                360.4173278808594
            ],
            "velocity": [
                -8.282400131225586,
                -1.3401143550872803,
                -0.05696059390902519
            ],
            "speed_kmh": 30.205116221311386,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3841,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2994.021240234375,
                        "y": 4272.60791015625,
                        "z": 361.27301025390625
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3840,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2994.46533203125,
                        "y": 4269.38818359375,
                        "z": 361.27264404296875
                    },
                    "rotation": {
                        "roll": 3.3351950090576565e-09,
                        "pitch": 0.5281990170478821,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.203332901000977,
                "transform": {
                    "location": {
                        "x": 2867.9931640625,
                        "y": 4249.0009765625,
                        "z": 360.29388427734375
                    },
                    "rotation": {
                        "roll": 0.009525158442556858,
                        "pitch": 0.5003318190574646,
                        "yaw": 9.464254379272461
                    }
                },
                "velocity": {
                    "x": 8.092473983764648,
                    "y": 1.3427658081054688,
                    "z": 0.059353359043598175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.195881843566895,
                "transform": {
                    "location": {
                        "x": 2867.47607421875,
                        "y": 4252.2099609375,
                        "z": 360.2955017089844
                    },
                    "rotation": {
                        "roll": 0.013044608756899834,
                        "pitch": 0.5107410550117493,
                        "yaw": 9.468916893005371
                    }
                },
                "velocity": {
                    "x": 8.085173606872559,
                    "y": 1.3412821292877197,
                    "z": 0.05848515406250954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4460039138793945,
                "transform": {
                    "location": {
                        "x": 2955.232421875,
                        "y": 4256.35009765625,
                        "z": 360.91839599609375
                    },
                    "rotation": {
                        "roll": 0.0007627641898579895,
                        "pitch": -0.22411897778511047,
                        "yaw": -170.80972290039062
                    }
                },
                "velocity": {
                    "x": -2.4145166873931885,
                    "y": -0.3907545506954193,
                    "z": -0.018848465755581856
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079442024230957,
                "transform": {
                    "location": {
                        "x": 2911.483154296875,
                        "y": 4256.06005859375,
                        "z": 360.5932312011719
                    },
                    "rotation": {
                        "roll": -0.0007629423635080457,
                        "pitch": 0.4041559398174286,
                        "yaw": 9.190604209899902
                    }
                },
                "velocity": {
                    "x": 7.975530624389648,
                    "y": 1.290377140045166,
                    "z": 0.056782376021146774
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038138389587402,
                "transform": {
                    "location": {
                        "x": 2910.026123046875,
                        "y": 4259.1171875,
                        "z": 360.5923767089844
                    },
                    "rotation": {
                        "roll": -0.0010375981219112873,
                        "pitch": 0.40843847393989563,
                        "yaw": 9.212640762329102
                    }
                },
                "velocity": {
                    "x": 7.934567928314209,
                    "y": 1.2849416732788086,
                    "z": 0.05675097182393074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.001301765441895,
                "transform": {
                    "location": {
                        "x": 2952.033935546875,
                        "y": 4259.1279296875,
                        "z": 360.88958740234375
                    },
                    "rotation": {
                        "roll": 0.0015004833694547415,
                        "pitch": -0.4333139955997467,
                        "yaw": -170.8226318359375
                    }
                },
                "velocity": {
                    "x": -8.885796546936035,
                    "y": -1.4357115030288696,
                    "z": -0.06920258700847626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008453394402749836,
                "transform": {
                    "location": {
                        "x": 2942.149658203125,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0009765620343387127,
                        "pitch": -0.43694767355918884,
                        "yaw": -170.9607391357422
                    }
                },
                "velocity": {
                    "x": 3.579556869226508e-05,
                    "y": -0.00014743255451321602,
                    "z": 0.0008316135499626398
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.278368949890137,
                "transform": {
                    "location": {
                        "x": 2933.03271484375,
                        "y": 4256.0537109375,
                        "z": 360.75201416015625
                    },
                    "rotation": {
                        "roll": -3.051837848033756e-05,
                        "pitch": -0.17367804050445557,
                        "yaw": -170.82357788085938
                    }
                },
                "velocity": {
                    "x": -8.172197341918945,
                    "y": -1.3202095031738281,
                    "z": -0.06026465445756912
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06843376159668,
                "transform": {
                    "location": {
                        "x": 2952.4853515625,
                        "y": 4262.697265625,
                        "z": 360.8918151855469
                    },
                    "rotation": {
                        "roll": -6.103334089857526e-05,
                        "pitch": 0.44823795557022095,
                        "yaw": 9.179101943969727
                    }
                },
                "velocity": {
                    "x": 7.964876651763916,
                    "y": 1.2869648933410645,
                    "z": 0.06389877200126648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052102088928223,
                "transform": {
                    "location": {
                        "x": 2952.1015625,
                        "y": 4265.92529296875,
                        "z": 360.90283203125
                    },
                    "rotation": {
                        "roll": 0.0006295342463999987,
                        "pitch": 0.4524180591106415,
                        "yaw": 9.192136764526367
                    }
                },
                "velocity": {
                    "x": 7.9484453201293945,
                    "y": 1.2863050699234009,
                    "z": 0.06312349438667297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.697786569595337,
                "transform": {
                    "location": {
                        "x": 2885.882080078125,
                        "y": 4245.14794921875,
                        "z": 360.4461364746094
                    },
                    "rotation": {
                        "roll": 0.0004349048249423504,
                        "pitch": -0.329590767621994,
                        "yaw": -170.6201171875
                    }
                },
                "velocity": {
                    "x": -1.6754283905029297,
                    "y": -0.27442365884780884,
                    "z": -0.01052905060350895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.390310287475586,
                "transform": {
                    "location": {
                        "x": 2887.56640625,
                        "y": 4248.6962890625,
                        "z": 360.4173278808594
                    },
                    "rotation": {
                        "roll": 2.7925236281589605e-05,
                        "pitch": -0.4437573552131653,
                        "yaw": -170.80372619628906
                    }
                },
                "velocity": {
                    "x": -8.282400131225586,
                    "y": -1.3401143550872803,
                    "z": -0.05696059390902519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.868433952331543,
                "transform": {
                    "location": {
                        "x": 2869.39404296875,
                        "y": 4242.49560546875,
                        "z": 360.29779052734375
                    },
                    "rotation": {
                        "roll": 0.0042298901826143265,
                        "pitch": -0.7071840763092041,
                        "yaw": -170.50079345703125
                    }
                },
                "velocity": {
                    "x": -4.801811218261719,
                    "y": -0.8018959760665894,
                    "z": -0.03495323657989502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3403449058532715,
                "transform": {
                    "location": {
                        "x": 2869.1865234375,
                        "y": 4245.72119140625,
                        "z": 360.29876708984375
                    },
                    "rotation": {
                        "roll": 0.0015861475840210915,
                        "pitch": -0.27320072054862976,
                        "yaw": -170.75865173339844
                    }
                },
                "velocity": {
                    "x": -5.271331787109375,
                    "y": -0.8549761772155762,
                    "z": -0.03689762204885483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18972070515155792,
        "expert_target_speed": 6.4835052062972425,
        "target_point": [
            26.91929522510987,
            1.4918913304455508
        ],
        "target_point_next": [
            68.8310554449243,
            -1.229123270929712
        ]
    },
    "520": {
        "acceleration": [
            0.827178955078125,
            -0.5618572235107422,
            -0.007647350430488586
        ],
        "angular_velocity": [
            -0.18119247257709503,
            -0.041664764285087585,
            2.81217098236084
        ],
        "forward_vector": [
            -0.9686581492424011,
            -0.2482486367225647,
            -0.008594405837357044
        ],
        "right_vector": [
            0.24821729958057404,
            -0.9686936140060425,
            0.004555949941277504
        ],
        "location": [
            2914.861083984375,
            4253.06494140625,
            360.6144714355469
        ],
        "rotation": [
            -0.26104727387428284,
            -0.49242928624153137,
            -165.6255645751953
        ],
        "velocity": [
            -5.090450763702393,
            -1.441332459449768,
            -0.03721725940704346
        ],
        "speed": 5.290569745910339,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.75370979309082,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2885.482666015625,
                4248.35888671875,
                360.4026184082031
            ],
            "velocity": [
                -8.57756519317627,
                -1.3880366086959839,
                -0.058490872383117676
            ],
            "speed_kmh": 31.28163680537484,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.878123760223389,
                "transform": {
                    "location": {
                        "x": 2869.9599609375,
                        "y": 4249.326171875,
                        "z": 360.30792236328125
                    },
                    "rotation": {
                        "roll": 0.007559625897556543,
                        "pitch": 0.3941360414028168,
                        "yaw": 9.365106582641602
                    }
                },
                "velocity": {
                    "x": 7.773153305053711,
                    "y": 1.2805156707763672,
                    "z": 0.05653330683708191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.801258563995361,
                "transform": {
                    "location": {
                        "x": 2869.427490234375,
                        "y": 4252.5322265625,
                        "z": 360.30950927734375
                    },
                    "rotation": {
                        "roll": 0.008228166960179806,
                        "pitch": 0.37084510922431946,
                        "yaw": 9.37568187713623
                    }
                },
                "velocity": {
                    "x": 7.697365760803223,
                    "y": 1.2676918506622314,
                    "z": 0.056133173406124115
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5294129848480225,
                "transform": {
                    "location": {
                        "x": 2954.98779296875,
                        "y": 4256.31005859375,
                        "z": 360.9217834472656
                    },
                    "rotation": {
                        "roll": 0.0009359052055515349,
                        "pitch": -0.8757599592208862,
                        "yaw": -170.84896850585938
                    }
                },
                "velocity": {
                    "x": -0.5225915312767029,
                    "y": -0.08459793031215668,
                    "z": -0.0043996237218379974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.043461799621582,
                "transform": {
                    "location": {
                        "x": 2913.472412109375,
                        "y": 4256.38134765625,
                        "z": 360.607421875
                    },
                    "rotation": {
                        "roll": 0.00015763519331812859,
                        "pitch": 0.40355488657951355,
                        "yaw": 9.190760612487793
                    }
                },
                "velocity": {
                    "x": 7.939999103546143,
                    "y": 1.2846992015838623,
                    "z": 0.0568547248840332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035639762878418,
                "transform": {
                    "location": {
                        "x": 2912.010009765625,
                        "y": 4259.4384765625,
                        "z": 360.60650634765625
                    },
                    "rotation": {
                        "roll": 0.0011862118262797594,
                        "pitch": 0.4082813560962677,
                        "yaw": 9.185133934020996
                    }
                },
                "velocity": {
                    "x": 7.932290077209473,
                    "y": 1.2833623886108398,
                    "z": 0.0571432001888752
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.504627227783203,
                "transform": {
                    "location": {
                        "x": 2949.728759765625,
                        "y": 4258.75537109375,
                        "z": 360.8715515136719
                    },
                    "rotation": {
                        "roll": 0.0006121093756519258,
                        "pitch": -0.42834845185279846,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -9.382308006286621,
                    "y": -1.5182452201843262,
                    "z": -0.07190337777137756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011187418131157756,
                "transform": {
                    "location": {
                        "x": 2942.149658203125,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0014343294315040112,
                        "pitch": -0.42687997221946716,
                        "yaw": -170.9607391357422
                    }
                },
                "velocity": {
                    "x": -7.667765203223098e-06,
                    "y": 7.855333024053834e-06,
                    "z": 0.0011186879128217697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.142611503601074,
                "transform": {
                    "location": {
                        "x": 2931.131591796875,
                        "y": 4255.74609375,
                        "z": 360.73779296875
                    },
                    "rotation": {
                        "roll": -0.0009460469009354711,
                        "pitch": -0.5425082445144653,
                        "yaw": -170.81442260742188
                    }
                },
                "velocity": {
                    "x": -7.050826072692871,
                    "y": -1.140161395072937,
                    "z": -0.05271787941455841
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016632080078125,
                "transform": {
                    "location": {
                        "x": 2954.4697265625,
                        "y": 4263.01806640625,
                        "z": 360.90765380859375
                    },
                    "rotation": {
                        "roll": 0.00035914662294089794,
                        "pitch": 0.4573221206665039,
                        "yaw": 9.173133850097656
                    }
                },
                "velocity": {
                    "x": 7.91364860534668,
                    "y": 1.2792384624481201,
                    "z": 0.06403928250074387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041065216064453,
                "transform": {
                    "location": {
                        "x": 2954.087158203125,
                        "y": 4266.24658203125,
                        "z": 360.918701171875
                    },
                    "rotation": {
                        "roll": -0.0005493175704032183,
                        "pitch": 0.4595760703086853,
                        "yaw": 9.18905258178711
                    }
                },
                "velocity": {
                    "x": 7.937647342681885,
                    "y": 1.283884048461914,
                    "z": 0.06429233402013779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7468605041503906,
                "transform": {
                    "location": {
                        "x": 2885.338134765625,
                        "y": 4245.05859375,
                        "z": 360.4421081542969
                    },
                    "rotation": {
                        "roll": 0.0002287574898218736,
                        "pitch": -0.2872640788555145,
                        "yaw": -170.64749145507812
                    }
                },
                "velocity": {
                    "x": -2.710638999938965,
                    "y": -0.44422683119773865,
                    "z": -0.018485965207219124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.689343452453613,
                "transform": {
                    "location": {
                        "x": 2885.482666015625,
                        "y": 4248.35888671875,
                        "z": 360.4026184082031
                    },
                    "rotation": {
                        "roll": 0.0014439979568123817,
                        "pitch": -0.3892251253128052,
                        "yaw": -170.8150634765625
                    }
                },
                "velocity": {
                    "x": -8.57756519317627,
                    "y": -1.3880366086959839,
                    "z": -0.058490872383117676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.860013484954834,
                "transform": {
                    "location": {
                        "x": 2868.5078125,
                        "y": 4242.34814453125,
                        "z": 360.29107666015625
                    },
                    "rotation": {
                        "roll": 4.2040996049763635e-05,
                        "pitch": -0.6434037685394287,
                        "yaw": -170.50294494628906
                    }
                },
                "velocity": {
                    "x": -3.807241201400757,
                    "y": -0.6355687379837036,
                    "z": -0.0259183868765831
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.08348274230957,
                "transform": {
                    "location": {
                        "x": 2867.900146484375,
                        "y": 4245.5126953125,
                        "z": 360.28924560546875
                    },
                    "rotation": {
                        "roll": 0.0009284791885875165,
                        "pitch": -0.40982499718666077,
                        "yaw": -170.7884521484375
                    }
                },
                "velocity": {
                    "x": -5.017955780029297,
                    "y": -0.8127477765083313,
                    "z": -0.03685242682695389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12032176554203033,
        "expert_target_speed": 6.33862663034309,
        "target_point": [
            25.607202344865623,
            0.7931335658303125
        ],
        "target_point_next": [
            67.43548540757429,
            -3.000848670558737
        ]
    },
    "525": {
        "acceleration": [
            0.8323860168457031,
            -0.4620647430419922,
            0.0008130073547363281
        ],
        "angular_velocity": [
            0.013413890264928341,
            0.04813242331147194,
            11.465813636779785
        ],
        "forward_vector": [
            -0.9597221612930298,
            -0.28082191944122314,
            -0.008507625199854374
        ],
        "right_vector": [
            0.2807813882827759,
            -0.9597550630569458,
            0.005658450070768595
        ],
        "location": [
            2913.616455078125,
            4252.689453125,
            360.6054992675781
        ],
        "rotation": [
            -0.3242187798023224,
            -0.48745691776275635,
            -163.69012451171875
        ],
        "velocity": [
            -4.863247394561768,
            -1.5957107543945312,
            -0.03703003004193306
        ],
        "speed": 5.1183462204507215,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.556825637817383,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2883.41845703125,
                4248.025390625,
                360.38873291015625
            ],
            "velocity": [
                -7.690691947937012,
                -1.245828628540039,
                -0.053635939955711365
            ],
            "speed_kmh": 28.048068403591586,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.126378059387207,
                "transform": {
                    "location": {
                        "x": 2871.935546875,
                        "y": 4249.6513671875,
                        "z": 360.3221740722656
                    },
                    "rotation": {
                        "roll": 0.0034083672799170017,
                        "pitch": 0.430698037147522,
                        "yaw": 9.340755462646484
                    }
                },
                "velocity": {
                    "x": 8.018608093261719,
                    "y": 1.3178727626800537,
                    "z": 0.0562506839632988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.186461448669434,
                "transform": {
                    "location": {
                        "x": 2871.403564453125,
                        "y": 4252.857421875,
                        "z": 360.32379150390625
                    },
                    "rotation": {
                        "roll": 0.0033644922077655792,
                        "pitch": 0.4575680196285248,
                        "yaw": 9.346113204956055
                    }
                },
                "velocity": {
                    "x": 8.077747344970703,
                    "y": 1.328474998474121,
                    "z": 0.05750186741352081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.757080316543579,
                "transform": {
                    "location": {
                        "x": 2954.706298828125,
                        "y": 4256.26513671875,
                        "z": 360.91510009765625
                    },
                    "rotation": {
                        "roll": 0.0010240485426038504,
                        "pitch": -0.3315100371837616,
                        "yaw": -170.85406494140625
                    }
                },
                "velocity": {
                    "x": -1.734774112701416,
                    "y": -0.2787370979785919,
                    "z": -0.013993377797305584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079941749572754,
                "transform": {
                    "location": {
                        "x": 2915.462158203125,
                        "y": 4256.70263671875,
                        "z": 360.6216735839844
                    },
                    "rotation": {
                        "roll": 0.0004446872335392982,
                        "pitch": 0.40768030285835266,
                        "yaw": 9.190637588500977
                    }
                },
                "velocity": {
                    "x": 7.976016521453857,
                    "y": 1.2905070781707764,
                    "z": 0.05665091425180435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034597396850586,
                "transform": {
                    "location": {
                        "x": 2913.992431640625,
                        "y": 4259.7587890625,
                        "z": 360.62066650390625
                    },
                    "rotation": {
                        "roll": -0.0001220727281179279,
                        "pitch": 0.4092649221420288,
                        "yaw": 9.20605182647705
                    }
                },
                "velocity": {
                    "x": 7.931214332580566,
                    "y": 1.2835078239440918,
                    "z": 0.05659167096018791
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.500825881958008,
                "transform": {
                    "location": {
                        "x": 2947.50048828125,
                        "y": 4258.39453125,
                        "z": 360.85467529296875
                    },
                    "rotation": {
                        "roll": 0.0014839074574410915,
                        "pitch": -0.44939911365509033,
                        "yaw": -170.8059539794922
                    }
                },
                "velocity": {
                    "x": -8.391386985778809,
                    "y": -1.3581174612045288,
                    "z": -0.06471826136112213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001358712324872613,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0013732927618548274,
                        "pitch": -0.4255344271659851,
                        "yaw": -170.9607391357422
                    }
                },
                "velocity": {
                    "x": -2.3028402210911736e-05,
                    "y": 4.2885167204076424e-06,
                    "z": 0.0013585103442892432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.09587287902832,
                "transform": {
                    "location": {
                        "x": 2929.64794921875,
                        "y": 4255.50634765625,
                        "z": 360.72650146484375
                    },
                    "rotation": {
                        "roll": 0.0022722692228853703,
                        "pitch": -0.9275259971618652,
                        "yaw": -170.8484649658203
                    }
                },
                "velocity": {
                    "x": -4.043196678161621,
                    "y": -0.6538736820220947,
                    "z": -0.03442240506410599
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.069177627563477,
                "transform": {
                    "location": {
                        "x": 2956.454833984375,
                        "y": 4263.33935546875,
                        "z": 360.9237060546875
                    },
                    "rotation": {
                        "roll": 0.00020152701472397894,
                        "pitch": 0.4579095244407654,
                        "yaw": 9.180079460144043
                    }
                },
                "velocity": {
                    "x": 7.9653167724609375,
                    "y": 1.2888511419296265,
                    "z": 0.06495309621095657
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051918029785156,
                "transform": {
                    "location": {
                        "x": 2956.072998046875,
                        "y": 4266.56787109375,
                        "z": 360.9346923828125
                    },
                    "rotation": {
                        "roll": -0.0001525869156466797,
                        "pitch": 0.4594394862651825,
                        "yaw": 9.18889331817627
                    }
                },
                "velocity": {
                    "x": 7.948347091674805,
                    "y": 1.285700798034668,
                    "z": 0.0643441379070282
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.160340785980225,
                "transform": {
                    "location": {
                        "x": 2884.4775390625,
                        "y": 4244.91748046875,
                        "z": 360.4358215332031
                    },
                    "rotation": {
                        "roll": -0.000366212276276201,
                        "pitch": -0.24850958585739136,
                        "yaw": -170.66392517089844
                    }
                },
                "velocity": {
                    "x": -4.105412006378174,
                    "y": -0.6732150912284851,
                    "z": -0.02841075323522091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.791130065917969,
                "transform": {
                    "location": {
                        "x": 2883.41845703125,
                        "y": 4248.025390625,
                        "z": 360.38873291015625
                    },
                    "rotation": {
                        "roll": 0.0020381291396915913,
                        "pitch": -0.4327402710914612,
                        "yaw": -170.79905700683594
                    }
                },
                "velocity": {
                    "x": -7.690691947937012,
                    "y": -1.245828628540039,
                    "z": -0.053635939955711365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.238431930541992,
                "transform": {
                    "location": {
                        "x": 2867.37646484375,
                        "y": 4242.15966796875,
                        "z": 360.2833557128906
                    },
                    "rotation": {
                        "roll": 0.0043570795096457005,
                        "pitch": -0.23857849836349487,
                        "yaw": -170.52536010742188
                    }
                },
                "velocity": {
                    "x": -5.1682024002075195,
                    "y": -0.8542796969413757,
                    "z": -0.03255535662174225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.185391902923584,
                "transform": {
                    "location": {
                        "x": 2866.620849609375,
                        "y": 4245.3056640625,
                        "z": 360.2799072265625
                    },
                    "rotation": {
                        "roll": 0.0012183815706521273,
                        "pitch": -0.4025508463382721,
                        "yaw": -170.8005828857422
                    }
                },
                "velocity": {
                    "x": -5.118566989898682,
                    "y": -0.8289704918861389,
                    "z": -0.03701385483145714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.23884327709674835,
        "expert_target_speed": 6.181339833661389,
        "target_point": [
            24.319390320047663,
            -0.08300193211172235
        ],
        "target_point_next": [
            65.9956763920095,
            -5.287494648228925
        ]
    },
    "530": {
        "acceleration": [
            0.33039093017578125,
            -0.49508094787597656,
            0.005509033799171448
        ],
        "angular_velocity": [
            0.01802305318415165,
            0.1670578122138977,
            3.438542366027832
        ],
        "forward_vector": [
            -0.9505059123039246,
            -0.3105993866920471,
            -0.008152274414896965
        ],
        "right_vector": [
            0.31056445837020874,
            -0.9505376219749451,
            0.005284043028950691
        ],
        "location": [
            2912.419677734375,
            4252.2841796875,
            360.5965881347656
        ],
        "rotation": [
            -0.3027648329734802,
            -0.46709612011909485,
            -161.90402221679688
        ],
        "velocity": [
            -4.724081993103027,
            -1.7007108926773071,
            -0.03572779521346092
        ],
        "speed": 5.0208931693506,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.063207626342773,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2881.690673828125,
                4247.7451171875,
                360.3771667480469
            ],
            "velocity": [
                -6.203171730041504,
                -1.0044584274291992,
                -0.04301822930574417
            ],
            "speed_kmh": 22.62282129830018,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041337013244629,
                "transform": {
                    "location": {
                        "x": 2873.934814453125,
                        "y": 4249.97802734375,
                        "z": 360.3362731933594
                    },
                    "rotation": {
                        "roll": 0.0036941957660019398,
                        "pitch": 0.39391064643859863,
                        "yaw": 9.27774429321289
                    }
                },
                "velocity": {
                    "x": 7.936150550842285,
                    "y": 1.2951738834381104,
                    "z": 0.05602661147713661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.007481575012207,
                "transform": {
                    "location": {
                        "x": 2873.40771484375,
                        "y": 4253.185546875,
                        "z": 360.3379211425781
                    },
                    "rotation": {
                        "roll": 0.0056701535359025,
                        "pitch": 0.38520216941833496,
                        "yaw": 9.285303115844727
                    }
                },
                "velocity": {
                    "x": 7.902747631072998,
                    "y": 1.2896414995193481,
                    "z": 0.056280288845300674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3369059562683105,
                "transform": {
                    "location": {
                        "x": 2954.1533203125,
                        "y": 4256.17529296875,
                        "z": 360.9093017578125
                    },
                    "rotation": {
                        "roll": -0.0001831051049521193,
                        "pitch": -0.15622690320014954,
                        "yaw": -170.86996459960938
                    }
                },
                "velocity": {
                    "x": -2.3070201873779297,
                    "y": -0.37215182185173035,
                    "z": -0.017056046053767204
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044747352600098,
                "transform": {
                    "location": {
                        "x": 2917.451416015625,
                        "y": 4257.0244140625,
                        "z": 360.6359558105469
                    },
                    "rotation": {
                        "roll": 0.0004821742186322808,
                        "pitch": 0.4087526500225067,
                        "yaw": 9.192792892456055
                    }
                },
                "velocity": {
                    "x": 7.941193103790283,
                    "y": 1.28537917137146,
                    "z": 0.056585099548101425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036781311035156,
                "transform": {
                    "location": {
                        "x": 2915.975830078125,
                        "y": 4260.0791015625,
                        "z": 360.6349182128906
                    },
                    "rotation": {
                        "roll": 0.0004990969900973141,
                        "pitch": 0.41283708810806274,
                        "yaw": 9.185212135314941
                    }
                },
                "velocity": {
                    "x": 7.933210372924805,
                    "y": 1.284851312637329,
                    "z": 0.05647087097167969
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.060203552246094,
                "transform": {
                    "location": {
                        "x": 2945.567138671875,
                        "y": 4258.08154296875,
                        "z": 360.84002685546875
                    },
                    "rotation": {
                        "roll": -0.00012206018436700106,
                        "pitch": -0.4588589072227478,
                        "yaw": -170.80540466308594
                    }
                },
                "velocity": {
                    "x": -6.969301223754883,
                    "y": -1.128051996231079,
                    "z": -0.05301704630255699
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014510622713714838,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0018310575978830457,
                        "pitch": -0.42388835549354553,
                        "yaw": -170.9607391357422
                    }
                },
                "velocity": {
                    "x": -1.9043982319999486e-05,
                    "y": -6.4460650719411206e-06,
                    "z": 0.001450922922231257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.583535194396973,
                "transform": {
                    "location": {
                        "x": 2928.633056640625,
                        "y": 4255.341796875,
                        "z": 360.71905517578125
                    },
                    "rotation": {
                        "roll": 0.0010446434607729316,
                        "pitch": -0.530698835849762,
                        "yaw": -170.75338745117188
                    }
                },
                "velocity": {
                    "x": -4.524260997772217,
                    "y": -0.7340202331542969,
                    "z": -0.03275277465581894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017232894897461,
                "transform": {
                    "location": {
                        "x": 2958.439697265625,
                        "y": 4263.66015625,
                        "z": 360.9398498535156
                    },
                    "rotation": {
                        "roll": -9.155353473033756e-05,
                        "pitch": 0.4629433751106262,
                        "yaw": 9.17490291595459
                    }
                },
                "velocity": {
                    "x": 7.914414405822754,
                    "y": 1.2782799005508423,
                    "z": 0.06377173960208893
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041096687316895,
                "transform": {
                    "location": {
                        "x": 2958.05859375,
                        "y": 4266.88916015625,
                        "z": 360.950927734375
                    },
                    "rotation": {
                        "roll": 0.0005161200533621013,
                        "pitch": 0.4682435989379883,
                        "yaw": 9.188947677612305
                    }
                },
                "velocity": {
                    "x": 7.937648296356201,
                    "y": 1.2840447425842285,
                    "z": 0.06489744037389755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.375206470489502,
                "transform": {
                    "location": {
                        "x": 2883.28515625,
                        "y": 4244.7216796875,
                        "z": 360.4279479980469
                    },
                    "rotation": {
                        "roll": -0.0010070790303871036,
                        "pitch": -0.25103676319122314,
                        "yaw": -170.6776123046875
                    }
                },
                "velocity": {
                    "x": -5.304051876068115,
                    "y": -0.8710001111030579,
                    "z": -0.03517421707510948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.284117221832275,
                "transform": {
                    "location": {
                        "x": 2881.690673828125,
                        "y": 4247.7451171875,
                        "z": 360.3771667480469
                    },
                    "rotation": {
                        "roll": 0.0004989412846043706,
                        "pitch": -0.47793564200401306,
                        "yaw": -170.8161163330078
                    }
                },
                "velocity": {
                    "x": -6.203171730041504,
                    "y": -1.0044584274291992,
                    "z": -0.04301822930574417
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.184181213378906,
                "transform": {
                    "location": {
                        "x": 2866.106689453125,
                        "y": 4241.94970703125,
                        "z": 360.2740478515625
                    },
                    "rotation": {
                        "roll": 0.0028921817429363728,
                        "pitch": -0.37057188153266907,
                        "yaw": -170.60540771484375
                    }
                },
                "velocity": {
                    "x": -5.115164279937744,
                    "y": -0.8423332571983337,
                    "z": -0.03607577085494995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.091475963592529,
                "transform": {
                    "location": {
                        "x": 2865.54931640625,
                        "y": 4245.13232421875,
                        "z": 360.27154541015625
                    },
                    "rotation": {
                        "roll": 0.0006486305501312017,
                        "pitch": -0.5457115769386292,
                        "yaw": -170.80360412597656
                    }
                },
                "velocity": {
                    "x": -4.0389204025268555,
                    "y": -0.6529749035835266,
                    "z": -0.03038811683654785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6434099674224854,
        "expert_target_speed": 6.0916151075941505,
        "target_point": [
            23.04152377248535,
            -0.8544611295023499
        ],
        "target_point_next": [
            64.53534392864054,
            -7.355419061435578
        ]
    },
    "535": {
        "acceleration": [
            -0.28850555419921875,
            -0.16532659530639648,
            0.0012072175741195679
        ],
        "angular_velocity": [
            0.2947675287723541,
            0.3303031921386719,
            7.327878952026367
        ],
        "forward_vector": [
            -0.9425257444381714,
            -0.33405381441116333,
            -0.007299596443772316
        ],
        "right_vector": [
            0.3340330421924591,
            -0.9425531029701233,
            0.003936036489903927
        ],
        "location": [
            2911.237060546875,
            4251.8544921875,
            360.5876159667969
        ],
        "rotation": [
            -0.22552485764026642,
            -0.4182397723197937,
            -160.4844512939453
        ],
        "velocity": [
            -4.742476463317871,
            -1.7691630125045776,
            -0.034434642642736435
        ],
        "speed": 5.06172112723906,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.127574920654297,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2880.41064453125,
                4247.54052734375,
                360.36907958984375
            ],
            "velocity": [
                -2.8810877799987793,
                -0.4556346833705902,
                -0.019136738032102585
            ],
            "speed_kmh": 10.501043864414797,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019797325134277,
                "transform": {
                    "location": {
                        "x": 2875.9111328125,
                        "y": 4250.30029296875,
                        "z": 360.3500671386719
                    },
                    "rotation": {
                        "roll": 0.00020472041796892881,
                        "pitch": 0.3942931294441223,
                        "yaw": 9.260072708129883
                    }
                },
                "velocity": {
                    "x": 7.915134906768799,
                    "y": 1.2902131080627441,
                    "z": 0.05599965900182724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.998865604400635,
                "transform": {
                    "location": {
                        "x": 2875.372314453125,
                        "y": 4253.50537109375,
                        "z": 360.3516845703125
                    },
                    "rotation": {
                        "roll": 0.0041850414127111435,
                        "pitch": 0.39291343092918396,
                        "yaw": 9.251053810119629
                    }
                },
                "velocity": {
                    "x": 7.89479398727417,
                    "y": 1.2848947048187256,
                    "z": 0.05590616166591644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7451744675636292,
                "transform": {
                    "location": {
                        "x": 2954.010498046875,
                        "y": 4256.15283203125,
                        "z": 360.91363525390625
                    },
                    "rotation": {
                        "roll": -0.0020141643472015858,
                        "pitch": -0.8190557360649109,
                        "yaw": -170.8411407470703
                    }
                },
                "velocity": {
                    "x": -0.7355047464370728,
                    "y": -0.11950051039457321,
                    "z": -0.006113576702773571
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07801628112793,
                "transform": {
                    "location": {
                        "x": 2919.441162109375,
                        "y": 4257.3466796875,
                        "z": 360.65032958984375
                    },
                    "rotation": {
                        "roll": 0.0007374659180641174,
                        "pitch": 0.41054898500442505,
                        "yaw": 9.19704532623291
                    }
                },
                "velocity": {
                    "x": 7.9739532470703125,
                    "y": 1.2911663055419922,
                    "z": 0.05753214657306671
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035919189453125,
                "transform": {
                    "location": {
                        "x": 2917.958984375,
                        "y": 4260.4013671875,
                        "z": 360.6492614746094
                    },
                    "rotation": {
                        "roll": 0.00013696086534764618,
                        "pitch": 0.41337668895721436,
                        "yaw": 9.217615127563477
                    }
                },
                "velocity": {
                    "x": 7.932251453399658,
                    "y": 1.2853420972824097,
                    "z": 0.05727449432015419
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.628127098083496,
                "transform": {
                    "location": {
                        "x": 2944.05615234375,
                        "y": 4257.8369140625,
                        "z": 360.8287353515625
                    },
                    "rotation": {
                        "roll": 0.00041343423072248697,
                        "pitch": -0.47814735770225525,
                        "yaw": -170.8052520751953
                    }
                },
                "velocity": {
                    "x": -4.568487644195557,
                    "y": -0.7395352721214294,
                    "z": -0.03960190713405609
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001453206641599536,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0018310575978830457,
                        "pitch": -0.42388835549354553,
                        "yaw": -170.9607391357422
                    }
                },
                "velocity": {
                    "x": -3.111794649157673e-05,
                    "y": 1.3301931176101789e-05,
                    "z": 0.0014528125757351518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.297776699066162,
                "transform": {
                    "location": {
                        "x": 2927.3681640625,
                        "y": 4255.13671875,
                        "z": 360.71014404296875
                    },
                    "rotation": {
                        "roll": 0.0003002513840328902,
                        "pitch": -0.3271455466747284,
                        "yaw": -170.8221435546875
                    }
                },
                "velocity": {
                    "x": -5.229488849639893,
                    "y": -0.8470301628112793,
                    "z": -0.03772938624024391
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067973136901855,
                "transform": {
                    "location": {
                        "x": 2960.425048828125,
                        "y": 4263.98193359375,
                        "z": 360.95611572265625
                    },
                    "rotation": {
                        "roll": 0.0007893937872722745,
                        "pitch": 0.47146061062812805,
                        "yaw": 9.174094200134277
                    }
                },
                "velocity": {
                    "x": 7.964509010314941,
                    "y": 1.2863014936447144,
                    "z": 0.06498017907142639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051776885986328,
                "transform": {
                    "location": {
                        "x": 2960.044677734375,
                        "y": 4267.2109375,
                        "z": 360.9672546386719
                    },
                    "rotation": {
                        "roll": -0.0007324193720705807,
                        "pitch": 0.4736326038837433,
                        "yaw": 9.18917465209961
                    }
                },
                "velocity": {
                    "x": 7.948195457458496,
                    "y": 1.2857187986373901,
                    "z": 0.0650249496102333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.8272271156311035,
                "transform": {
                    "location": {
                        "x": 2881.942626953125,
                        "y": 4244.5029296875,
                        "z": 360.41912841796875
                    },
                    "rotation": {
                        "roll": -0.0004272466467227787,
                        "pitch": -0.31194838881492615,
                        "yaw": -170.583740234375
                    }
                },
                "velocity": {
                    "x": -5.750962257385254,
                    "y": -0.9388619065284729,
                    "z": -0.039356984198093414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.916956663131714,
                "transform": {
                    "location": {
                        "x": 2880.41064453125,
                        "y": 4247.54052734375,
                        "z": 360.36907958984375
                    },
                    "rotation": {
                        "roll": -0.0012817373499274254,
                        "pitch": -0.5832229852676392,
                        "yaw": -170.49452209472656
                    }
                },
                "velocity": {
                    "x": -2.8810877799987793,
                    "y": -0.4556346833705902,
                    "z": -0.019136738032102585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.925555229187012,
                "transform": {
                    "location": {
                        "x": 2864.917724609375,
                        "y": 4241.75390625,
                        "z": 360.2649841308594
                    },
                    "rotation": {
                        "roll": -0.005065917503088713,
                        "pitch": -0.43380579352378845,
                        "yaw": -170.4125213623047
                    }
                },
                "velocity": {
                    "x": -4.859279632568359,
                    "y": -0.8045031428337097,
                    "z": -0.03563077002763748
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.179460048675537,
                "transform": {
                    "location": {
                        "x": 2864.38623046875,
                        "y": 4244.9443359375,
                        "z": 360.2637023925781
                    },
                    "rotation": {
                        "roll": 0.0011228329967707396,
                        "pitch": -0.31802043318748474,
                        "yaw": -170.81263732910156
                    }
                },
                "velocity": {
                    "x": -5.11299991607666,
                    "y": -0.8263283967971802,
                    "z": -0.03487063944339752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9244529008865356,
        "expert_target_speed": 6.1287219494136,
        "target_point": [
            21.755064769778336,
            -1.4349510272952015
        ],
        "target_point_next": [
            63.075098963553764,
            -8.96185871965772
        ]
    },
    "540": {
        "acceleration": [
            -0.7200241088867188,
            -0.22114038467407227,
            -0.015415772795677185
        ],
        "angular_velocity": [
            0.20795908570289612,
            0.2892884910106659,
            -1.7259310483932495
        ],
        "forward_vector": [
            -0.9388641119003296,
            -0.34422793984413147,
            -0.00642569363117218
        ],
        "right_vector": [
            0.34421810507774353,
            -0.9388860464096069,
            0.0026119709946215153
        ],
        "location": [
            2910.034912109375,
            4251.4072265625,
            360.57861328125
        ],
        "rotation": [
            -0.1496581733226776,
            -0.3681676685810089,
            -159.86489868164062
        ],
        "velocity": [
            -4.873623371124268,
            -1.8264434337615967,
            -0.03443990275263786
        ],
        "speed": 5.204622981571242,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.49610710144043,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2879.79833984375,
                4247.44287109375,
                360.364013671875
            ],
            "velocity": [
                -2.652571439743042,
                -0.4296585023403168,
                -0.018329834565520287
            ],
            "speed_kmh": 9.673942650292103,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.070541381835938,
                "transform": {
                    "location": {
                        "x": 2877.89892578125,
                        "y": 4250.62451171875,
                        "z": 360.364013671875
                    },
                    "rotation": {
                        "roll": 0.0018804665887728333,
                        "pitch": 0.40450426936149597,
                        "yaw": 9.232983589172363
                    }
                },
                "velocity": {
                    "x": 7.965932846069336,
                    "y": 1.2939913272857666,
                    "z": 0.05607260763645172
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.087815284729004,
                "transform": {
                    "location": {
                        "x": 2877.36328125,
                        "y": 4253.8291015625,
                        "z": 360.3656311035156
                    },
                    "rotation": {
                        "roll": 0.0018728276481851935,
                        "pitch": 0.4127892851829529,
                        "yaw": 9.234704971313477
                    }
                },
                "velocity": {
                    "x": 7.982956886291504,
                    "y": 1.296894907951355,
                    "z": 0.05667079612612724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8586608171463013,
                "transform": {
                    "location": {
                        "x": 2953.6728515625,
                        "y": 4256.09765625,
                        "z": 360.9063720703125
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": -0.2604624330997467,
                        "yaw": -170.91639709472656
                    }
                },
                "velocity": {
                    "x": -1.834733247756958,
                    "y": -0.29692089557647705,
                    "z": -0.014568643644452095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04644775390625,
                "transform": {
                    "location": {
                        "x": 2921.4306640625,
                        "y": 4257.6689453125,
                        "z": 360.6648254394531
                    },
                    "rotation": {
                        "roll": 0.0008348387782461941,
                        "pitch": 0.4127551317214966,
                        "yaw": 9.204985618591309
                    }
                },
                "velocity": {
                    "x": 7.942758083343506,
                    "y": 1.2863472700119019,
                    "z": 0.05683504045009613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034969329833984,
                "transform": {
                    "location": {
                        "x": 2919.94189453125,
                        "y": 4260.72216796875,
                        "z": 360.66357421875
                    },
                    "rotation": {
                        "roll": 0.0013194784987717867,
                        "pitch": 0.41586971282958984,
                        "yaw": 9.1851167678833
                    }
                },
                "velocity": {
                    "x": 7.931654453277588,
                    "y": 1.2831172943115234,
                    "z": 0.05656128749251366
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8602077960968018,
                "transform": {
                    "location": {
                        "x": 2943.13232421875,
                        "y": 4257.68701171875,
                        "z": 360.82135009765625
                    },
                    "rotation": {
                        "roll": 0.0005872079636901617,
                        "pitch": -0.455170601606369,
                        "yaw": -170.80517578125
                    }
                },
                "velocity": {
                    "x": -3.810513496398926,
                    "y": -0.6167930364608765,
                    "z": -0.027509545907378197
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012408520560711622,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0005188050563447177,
                        "pitch": -0.4237995445728302,
                        "yaw": -170.96083068847656
                    }
                },
                "velocity": {
                    "x": -1.888632687041536e-05,
                    "y": -3.428008494665846e-05,
                    "z": 0.0012402345892041922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.890223026275635,
                "transform": {
                    "location": {
                        "x": 2926.00390625,
                        "y": 4254.916015625,
                        "z": 360.7000732421875
                    },
                    "rotation": {
                        "roll": 0.0012849473860114813,
                        "pitch": -0.3318173885345459,
                        "yaw": -170.83102416992188
                    }
                },
                "velocity": {
                    "x": -5.814566135406494,
                    "y": -0.9400725960731506,
                    "z": -0.04251393303275108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01717758178711,
                "transform": {
                    "location": {
                        "x": 2962.40966796875,
                        "y": 4264.30322265625,
                        "z": 360.9725646972656
                    },
                    "rotation": {
                        "roll": 0.0005666213110089302,
                        "pitch": 0.47105762362480164,
                        "yaw": 9.174389839172363
                    }
                },
                "velocity": {
                    "x": 7.9143524169921875,
                    "y": 1.278291940689087,
                    "z": 0.06429886072874069
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040831565856934,
                "transform": {
                    "location": {
                        "x": 2962.0302734375,
                        "y": 4267.5322265625,
                        "z": 360.9837341308594
                    },
                    "rotation": {
                        "roll": 0.00022587087005376816,
                        "pitch": 0.474199503660202,
                        "yaw": 9.18943977355957
                    }
                },
                "velocity": {
                    "x": 7.9373650550842285,
                    "y": 1.2840909957885742,
                    "z": 0.06572641432285309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.509767055511475,
                "transform": {
                    "location": {
                        "x": 2880.377197265625,
                        "y": 4244.2470703125,
                        "z": 360.4074401855469
                    },
                    "rotation": {
                        "roll": -0.0008239762391895056,
                        "pitch": -0.22504106163978577,
                        "yaw": -170.66029357910156
                    }
                },
                "velocity": {
                    "x": -7.4117937088012695,
                    "y": -1.208026647567749,
                    "z": -0.0508742518723011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.687206268310547,
                "transform": {
                    "location": {
                        "x": 2879.79833984375,
                        "y": 4247.44287109375,
                        "z": 360.364013671875
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.47182944416999817,
                        "yaw": -170.48126220703125
                    }
                },
                "velocity": {
                    "x": -2.652571439743042,
                    "y": -0.4296585023403168,
                    "z": -0.018329834565520287
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.481871128082275,
                "transform": {
                    "location": {
                        "x": 2863.693603515625,
                        "y": 4241.5517578125,
                        "z": 360.2560119628906
                    },
                    "rotation": {
                        "roll": -0.0010681131388992071,
                        "pitch": -0.5102219581604004,
                        "yaw": -170.53770446777344
                    }
                },
                "velocity": {
                    "x": -4.42191743850708,
                    "y": -0.7297344207763672,
                    "z": -0.0360688678920269
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.000443458557129,
                "transform": {
                    "location": {
                        "x": 2863.142333984375,
                        "y": 4244.7421875,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.0014648425858467817,
                        "pitch": -0.4084452986717224,
                        "yaw": -170.72235107421875
                    }
                },
                "velocity": {
                    "x": -4.935652732849121,
                    "y": -0.8013551235198975,
                    "z": -0.039981160312891006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0006318092346191,
        "expert_target_speed": 6.258949131181907,
        "target_point": [
            20.4556341149145,
            -1.6762238635026039
        ],
        "target_point_next": [
            61.69186019059602,
            -9.64950576115302
        ]
    },
    "545": {
        "acceleration": [
            -1.2117481231689453,
            -0.1521134376525879,
            -0.011544376611709595
        ],
        "angular_velocity": [
            0.17464351654052734,
            0.29356858134269714,
            2.2293920516967773
        ],
        "forward_vector": [
            -0.9384273290634155,
            -0.34543266892433167,
            -0.0055142357014119625
        ],
        "right_vector": [
            0.34543201327323914,
            -0.938443124294281,
            0.0010972049785777926
        ],
        "location": [
            2908.78466796875,
            4250.947265625,
            360.5693664550781
        ],
        "rotation": [
            -0.06286618113517761,
            -0.31594404578208923,
            -159.79147338867188
        ],
        "velocity": [
            -5.133604526519775,
            -1.8650697469711304,
            -0.037495024502277374
        ],
        "speed": 5.461902653450653,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.96556282043457,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2879.040283203125,
                4247.3193359375,
                360.3580017089844
            ],
            "velocity": [
                -3.355421304702759,
                -0.5441337823867798,
                -0.023573631420731544
            ],
            "speed_kmh": 12.237611813579784,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03459358215332,
                "transform": {
                    "location": {
                        "x": 2879.885498046875,
                        "y": 4250.94677734375,
                        "z": 360.3777770996094
                    },
                    "rotation": {
                        "roll": 0.0020149594638496637,
                        "pitch": 0.39195722341537476,
                        "yaw": 9.221121788024902
                    }
                },
                "velocity": {
                    "x": 7.930711269378662,
                    "y": 1.2866079807281494,
                    "z": 0.05611161142587662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006077766418457,
                "transform": {
                    "location": {
                        "x": 2879.34765625,
                        "y": 4254.1513671875,
                        "z": 360.37933349609375
                    },
                    "rotation": {
                        "roll": 0.0013812201796099544,
                        "pitch": 0.38548219203948975,
                        "yaw": 9.22649097442627
                    }
                },
                "velocity": {
                    "x": 7.902444362640381,
                    "y": 1.2827701568603516,
                    "z": 0.05611427128314972
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5264444947242737,
                "transform": {
                    "location": {
                        "x": 2953.205322265625,
                        "y": 4256.02197265625,
                        "z": 360.9039001464844
                    },
                    "rotation": {
                        "roll": 0.0014842234086245298,
                        "pitch": -0.41030311584472656,
                        "yaw": -170.94578552246094
                    }
                },
                "velocity": {
                    "x": -0.5193122625350952,
                    "y": -0.08624803274869919,
                    "z": -0.004451151005923748
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.077385902404785,
                "transform": {
                    "location": {
                        "x": 2923.420166015625,
                        "y": 4257.9912109375,
                        "z": 360.6793212890625
                    },
                    "rotation": {
                        "roll": 0.0002694625873118639,
                        "pitch": 0.4126390218734741,
                        "yaw": 9.202308654785156
                    }
                },
                "velocity": {
                    "x": 7.973238468170166,
                    "y": 1.291670560836792,
                    "z": 0.05672917142510414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036169052124023,
                "transform": {
                    "location": {
                        "x": 2921.925048828125,
                        "y": 4261.04248046875,
                        "z": 360.6780090332031
                    },
                    "rotation": {
                        "roll": 3.2210791687248275e-05,
                        "pitch": 0.41593116521835327,
                        "yaw": 9.204894065856934
                    }
                },
                "velocity": {
                    "x": 7.932628154754639,
                    "y": 1.28455650806427,
                    "z": 0.057805079966783524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.578063011169434,
                "transform": {
                    "location": {
                        "x": 2942.08935546875,
                        "y": 4257.5185546875,
                        "z": 360.8133544921875
                    },
                    "rotation": {
                        "roll": 0.00012060196604579687,
                        "pitch": -0.41167595982551575,
                        "yaw": -170.8054962158203
                    }
                },
                "velocity": {
                    "x": -4.51912784576416,
                    "y": -0.7314655780792236,
                    "z": -0.03320201858878136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012957373401150107,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80413818359375
                    },
                    "rotation": {
                        "roll": -0.00030517237610183656,
                        "pitch": -0.4234853684902191,
                        "yaw": -170.96084594726562
                    }
                },
                "velocity": {
                    "x": -1.800574318622239e-05,
                    "y": 3.91791581932921e-06,
                    "z": 0.0012956063728779554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.001988410949707,
                "transform": {
                    "location": {
                        "x": 2924.207763671875,
                        "y": 4254.6259765625,
                        "z": 360.6869201660156
                    },
                    "rotation": {
                        "roll": 0.0016099143540486693,
                        "pitch": -0.0711090937256813,
                        "yaw": -170.8243865966797
                    }
                },
                "velocity": {
                    "x": -7.899516582489014,
                    "y": -1.2752312421798706,
                    "z": -0.056958477944135666
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068534851074219,
                "transform": {
                    "location": {
                        "x": 2964.39453125,
                        "y": 4264.62451171875,
                        "z": 360.9892883300781
                    },
                    "rotation": {
                        "roll": -0.0008544941665604711,
                        "pitch": 0.4816034436225891,
                        "yaw": 9.174300193786621
                    }
                },
                "velocity": {
                    "x": 7.96505069732666,
                    "y": 1.2863003015518188,
                    "z": 0.06824596226215363
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051513671875,
                "transform": {
                    "location": {
                        "x": 2964.015869140625,
                        "y": 4267.853515625,
                        "z": 361.00042724609375
                    },
                    "rotation": {
                        "roll": -0.0008850081358104944,
                        "pitch": 0.4857357144355774,
                        "yaw": 9.192906379699707
                    }
                },
                "velocity": {
                    "x": 7.947824478149414,
                    "y": 1.286217212677002,
                    "z": 0.06775256991386414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071043968200684,
                "transform": {
                    "location": {
                        "x": 2878.368896484375,
                        "y": 4243.91943359375,
                        "z": 360.3941650390625
                    },
                    "rotation": {
                        "roll": 0.0016675457591190934,
                        "pitch": -0.29800114035606384,
                        "yaw": -170.73760986328125
                    }
                },
                "velocity": {
                    "x": -7.966133117675781,
                    "y": -1.295878529548645,
                    "z": -0.05628688260912895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.399336576461792,
                "transform": {
                    "location": {
                        "x": 2879.040283203125,
                        "y": 4247.3193359375,
                        "z": 360.3580017089844
                    },
                    "rotation": {
                        "roll": -0.001953124301508069,
                        "pitch": -0.36911022663116455,
                        "yaw": -170.520263671875
                    }
                },
                "velocity": {
                    "x": -3.355421304702759,
                    "y": -0.5441337823867798,
                    "z": -0.023573631420731544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.284073352813721,
                "transform": {
                    "location": {
                        "x": 2862.480224609375,
                        "y": 4241.3525390625,
                        "z": 360.2472229003906
                    },
                    "rotation": {
                        "roll": 0.0020457624923437834,
                        "pitch": -0.3312709927558899,
                        "yaw": -170.5960235595703
                    }
                },
                "velocity": {
                    "x": -5.214499473571777,
                    "y": -0.8538085222244263,
                    "z": -0.037874240428209305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.984270095825195,
                "transform": {
                    "location": {
                        "x": 2861.900146484375,
                        "y": 4244.541015625,
                        "z": 360.24505615234375
                    },
                    "rotation": {
                        "roll": -0.0013427753001451492,
                        "pitch": -0.42040494084358215,
                        "yaw": -170.7163848876953
                    }
                },
                "velocity": {
                    "x": -4.919811725616455,
                    "y": -0.7981538772583008,
                    "z": -0.036783698946237564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9999414682388306,
        "expert_target_speed": 6.491554765221344,
        "target_point": [
            19.12130057842947,
            -1.7021961074857561
        ],
        "target_point_next": [
            60.347276950901175,
            -9.72830583265901
        ]
    },
    "550": {
        "acceleration": [
            -1.5429306030273438,
            -0.13863563537597656,
            -0.010463744401931763
        ],
        "angular_velocity": [
            0.21128436923027039,
            0.23452416062355042,
            -6.55073356628418
        ],
        "forward_vector": [
            -0.9424588680267334,
            -0.33428889513015747,
            -0.004722219426184893
        ],
        "right_vector": [
            0.33429473638534546,
            -0.9424684643745422,
            -0.00048164938925765455
        ],
        "location": [
            2907.454833984375,
            4250.47802734375,
            360.55950927734375
        ],
        "rotation": [
            0.027596786618232727,
            -0.2705642580986023,
            -160.47047424316406
        ],
        "velocity": [
            -5.498055458068848,
            -1.8767608404159546,
            -0.03913607820868492
        ],
        "speed": 5.8095477510835085,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.648611068725586,
        "front_vehicle_info": {
            "id": 3845,
            "type": "vehicle.audi.tt",
            "location": [
                2877.99462890625,
                4247.1474609375,
                360.350341796875
            ],
            "velocity": [
                -4.940212249755859,
                -0.8012080192565918,
                -0.035017259418964386
            ],
            "speed_kmh": 18.01758014060049,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047281265258789,
                "transform": {
                    "location": {
                        "x": 2881.869384765625,
                        "y": 4251.26904296875,
                        "z": 360.3915100097656
                    },
                    "rotation": {
                        "roll": 0.0017986197490245104,
                        "pitch": 0.39274951815605164,
                        "yaw": 9.20700454711914
                    }
                },
                "velocity": {
                    "x": 7.943497180938721,
                    "y": 1.2870445251464844,
                    "z": 0.055737435817718506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042680740356445,
                "transform": {
                    "location": {
                        "x": 2881.326416015625,
                        "y": 4254.47265625,
                        "z": 360.3930358886719
                    },
                    "rotation": {
                        "roll": 0.0006291261524893343,
                        "pitch": 0.3967519998550415,
                        "yaw": 9.221796989440918
                    }
                },
                "velocity": {
                    "x": 7.9385504722595215,
                    "y": 1.2888349294662476,
                    "z": 0.055023182183504105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.592782735824585,
                "transform": {
                    "location": {
                        "x": 2952.99365234375,
                        "y": 4255.98828125,
                        "z": 360.9029846191406
                    },
                    "rotation": {
                        "roll": 0.002375124953687191,
                        "pitch": -0.5177624821662903,
                        "yaw": -170.92526245117188
                    }
                },
                "velocity": {
                    "x": -1.572508454322815,
                    "y": -0.25305289030075073,
                    "z": -0.011770810931921005
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04533576965332,
                "transform": {
                    "location": {
                        "x": 2925.409423828125,
                        "y": 4258.3134765625,
                        "z": 360.69384765625
                    },
                    "rotation": {
                        "roll": -0.0008850061567500234,
                        "pitch": 0.4145924746990204,
                        "yaw": 9.201826095581055
                    }
                },
                "velocity": {
                    "x": 7.941606044769287,
                    "y": 1.2864865064620972,
                    "z": 0.05727078393101692
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035316467285156,
                "transform": {
                    "location": {
                        "x": 2923.907958984375,
                        "y": 4261.36279296875,
                        "z": 360.6925048828125
                    },
                    "rotation": {
                        "roll": 9.247013804269955e-05,
                        "pitch": 0.4171537756919861,
                        "yaw": 9.176957130432129
                    }
                },
                "velocity": {
                    "x": 7.9319748878479,
                    "y": 1.2832785844802856,
                    "z": 0.05732228234410286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.204944610595703,
                "transform": {
                    "location": {
                        "x": 2940.861572265625,
                        "y": 4257.31982421875,
                        "z": 360.8043518066406
                    },
                    "rotation": {
                        "roll": -0.0008544886368326843,
                        "pitch": -0.4049414098262787,
                        "yaw": -170.8045196533203
                    }
                },
                "velocity": {
                    "x": -5.137934684753418,
                    "y": -0.8316678404808044,
                    "z": -0.03744304180145264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009326529107056558,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0015563985798507929,
                        "pitch": -0.42364245653152466,
                        "yaw": -170.96084594726562
                    }
                },
                "velocity": {
                    "x": -2.042673440882936e-05,
                    "y": -1.6635265637887642e-05,
                    "z": 0.000932280789129436
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.915964603424072,
                "transform": {
                    "location": {
                        "x": 2922.354248046875,
                        "y": 4254.3271484375,
                        "z": 360.6733093261719
                    },
                    "rotation": {
                        "roll": 0.007220294792205095,
                        "pitch": -0.4847384989261627,
                        "yaw": -171.0059814453125
                    }
                },
                "velocity": {
                    "x": -6.828366756439209,
                    "y": -1.096161127090454,
                    "z": -0.049050647765398026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01608657836914,
                "transform": {
                    "location": {
                        "x": 2966.37939453125,
                        "y": 4264.9453125,
                        "z": 361.00616455078125
                    },
                    "rotation": {
                        "roll": 0.0002243503840873018,
                        "pitch": 0.48458823561668396,
                        "yaw": 9.17424488067627
                    }
                },
                "velocity": {
                    "x": 7.91326379776001,
                    "y": 1.2779927253723145,
                    "z": 0.06809592992067337
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040894508361816,
                "transform": {
                    "location": {
                        "x": 2966.00146484375,
                        "y": 4268.1748046875,
                        "z": 361.0173645019531
                    },
                    "rotation": {
                        "roll": 5.514709482667968e-05,
                        "pitch": 0.487368106842041,
                        "yaw": 9.1931734085083
                    }
                },
                "velocity": {
                    "x": 7.937324523925781,
                    "y": 1.2846189737319946,
                    "z": 0.06793725490570068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.074557781219482,
                "transform": {
                    "location": {
                        "x": 2876.50830078125,
                        "y": 4243.61669921875,
                        "z": 360.3825378417969
                    },
                    "rotation": {
                        "roll": 0.0016480799531564116,
                        "pitch": -0.46161147952079773,
                        "yaw": -170.7628936767578
                    }
                },
                "velocity": {
                    "x": -6.98297119140625,
                    "y": -1.1336288452148438,
                    "z": -0.0486375093460083
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.004883289337158,
                "transform": {
                    "location": {
                        "x": 2877.99462890625,
                        "y": 4247.1474609375,
                        "z": 360.350341796875
                    },
                    "rotation": {
                        "roll": 0.00015039481513667852,
                        "pitch": -0.3146941065788269,
                        "yaw": -170.76919555664062
                    }
                },
                "velocity": {
                    "x": -4.940212249755859,
                    "y": -0.8012080192565918,
                    "z": -0.035017259418964386
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.793045997619629,
                "transform": {
                    "location": {
                        "x": 2861.13720703125,
                        "y": 4241.13232421875,
                        "z": 360.2371826171875
                    },
                    "rotation": {
                        "roll": 0.0023557969834655523,
                        "pitch": -0.3359701633453369,
                        "yaw": -170.6900177001953
                    }
                },
                "velocity": {
                    "x": -5.717141628265381,
                    "y": -0.9337182641029358,
                    "z": -0.04292292520403862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.437342643737793,
                "transform": {
                    "location": {
                        "x": 2860.594970703125,
                        "y": 4244.3291015625,
                        "z": 360.23529052734375
                    },
                    "rotation": {
                        "roll": 0.00014815643953625113,
                        "pitch": -0.3866296708583832,
                        "yaw": -170.77647399902344
                    }
                },
                "velocity": {
                    "x": -5.367183685302734,
                    "y": -0.8697900176048279,
                    "z": -0.03872068226337433
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0004674196243286,
        "expert_target_speed": 6.801091404022937,
        "target_point": [
            17.729939203023214,
            -1.473167406689698
        ],
        "target_point_next": [
            59.048134541435594,
            -9.01016277360576
        ]
    },
    "555": {
        "acceleration": [
            -1.9978523254394531,
            -0.24060726165771484,
            -0.00385478138923645
        ],
        "angular_velocity": [
            0.022375578060746193,
            0.19863472878932953,
            -0.6833975315093994
        ],
        "forward_vector": [
            -0.9473753571510315,
            -0.3201002776622772,
            -0.003972877748310566
        ],
        "right_vector": [
            0.3201065957546234,
            -0.9473809599876404,
            -0.0010497007751837373
        ],
        "location": [
            2906.02490234375,
            4250.0,
            360.5489807128906
        ],
        "rotation": [
            0.06014391407370567,
            -0.22762970626354218,
            -161.3308563232422
        ],
        "velocity": [
            -5.95039176940918,
            -1.9289802312850952,
            -0.04198398068547249
        ],
        "speed": 6.255247952091205,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.638324737548828,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2875.086181640625,
                4243.3857421875,
                360.37353515625
            ],
            "velocity": [
                -4.7620038986206055,
                -0.7707759141921997,
                -0.03419835492968559
            ],
            "speed_kmh": 17.36676199915865,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049561500549316,
                "transform": {
                    "location": {
                        "x": 2883.856201171875,
                        "y": 4251.59130859375,
                        "z": 360.4051818847656
                    },
                    "rotation": {
                        "roll": 0.000933209783397615,
                        "pitch": 0.3926265835762024,
                        "yaw": 9.198344230651855
                    }
                },
                "velocity": {
                    "x": 7.946028709411621,
                    "y": 1.2857258319854736,
                    "z": 0.054500408470630646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046528816223145,
                "transform": {
                    "location": {
                        "x": 2883.313720703125,
                        "y": 4254.794921875,
                        "z": 360.4067077636719
                    },
                    "rotation": {
                        "roll": 0.0027796959038823843,
                        "pitch": 0.39476442337036133,
                        "yaw": 9.211137771606445
                    }
                },
                "velocity": {
                    "x": 7.942714214324951,
                    "y": 1.2872226238250732,
                    "z": 0.05446667596697807
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.237821578979492,
                "transform": {
                    "location": {
                        "x": 2952.4541015625,
                        "y": 4255.9013671875,
                        "z": 360.8961486816406
                    },
                    "rotation": {
                        "roll": -0.0011596687836572528,
                        "pitch": -0.1818879246711731,
                        "yaw": -170.9183349609375
                    }
                },
                "velocity": {
                    "x": -2.2091994285583496,
                    "y": -0.35637423396110535,
                    "z": -0.01672663725912571
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078205108642578,
                "transform": {
                    "location": {
                        "x": 2927.39892578125,
                        "y": 4258.6357421875,
                        "z": 360.70843505859375
                    },
                    "rotation": {
                        "roll": -0.0007324204198084772,
                        "pitch": 0.4169352054595947,
                        "yaw": 9.201786994934082
                    }
                },
                "velocity": {
                    "x": 7.974046230316162,
                    "y": 1.2917732000350952,
                    "z": 0.057480793446302414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035658836364746,
                "transform": {
                    "location": {
                        "x": 2925.89111328125,
                        "y": 4261.68310546875,
                        "z": 360.70703125
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.4208625853061676,
                        "yaw": 9.203914642333984
                    }
                },
                "velocity": {
                    "x": 7.932084560394287,
                    "y": 1.2847492694854736,
                    "z": 0.057198114693164825
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.023795127868652,
                "transform": {
                    "location": {
                        "x": 2939.497314453125,
                        "y": 4257.0986328125,
                        "z": 360.79412841796875
                    },
                    "rotation": {
                        "roll": 8.753398287808523e-05,
                        "pitch": -0.404415488243103,
                        "yaw": -170.81207275390625
                    }
                },
                "velocity": {
                    "x": -5.946201801300049,
                    "y": -0.9627041220664978,
                    "z": -0.04466787725687027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012527306098490953,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0015563985798507929,
                        "pitch": -0.42364245653152466,
                        "yaw": -170.96084594726562
                    }
                },
                "velocity": {
                    "x": -2.3066102585289627e-05,
                    "y": -4.475703462958336e-06,
                    "z": 0.001252510235644877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.623015403747559,
                "transform": {
                    "location": {
                        "x": 2920.877685546875,
                        "y": 4254.09033203125,
                        "z": 360.6623229980469
                    },
                    "rotation": {
                        "roll": 0.006261245347559452,
                        "pitch": -0.8425310850143433,
                        "yaw": -171.148193359375
                    }
                },
                "velocity": {
                    "x": -4.564369201660156,
                    "y": -0.7331017255783081,
                    "z": -0.036994531750679016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06833553314209,
                "transform": {
                    "location": {
                        "x": 2968.3642578125,
                        "y": 4265.2666015625,
                        "z": 361.0232849121094
                    },
                    "rotation": {
                        "roll": 0.000443784985691309,
                        "pitch": 0.48861804604530334,
                        "yaw": 9.177464485168457
                    }
                },
                "velocity": {
                    "x": 7.965020656585693,
                    "y": 1.2852294445037842,
                    "z": 0.06836610287427902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052117347717285,
                "transform": {
                    "location": {
                        "x": 2967.987060546875,
                        "y": 4268.49609375,
                        "z": 361.03448486328125
                    },
                    "rotation": {
                        "roll": 1.7709785424813163e-06,
                        "pitch": 0.4920536279678345,
                        "yaw": 9.193450927734375
                    }
                },
                "velocity": {
                    "x": 7.948410511016846,
                    "y": 1.2863434553146362,
                    "z": 0.06841985881328583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.824100494384766,
                "transform": {
                    "location": {
                        "x": 2875.086181640625,
                        "y": 4243.3857421875,
                        "z": 360.37353515625
                    },
                    "rotation": {
                        "roll": 0.0009080317686311901,
                        "pitch": -0.6025660634040833,
                        "yaw": -170.8200225830078
                    }
                },
                "velocity": {
                    "x": -4.7620038986206055,
                    "y": -0.7707759141921997,
                    "z": -0.03419835492968559
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.543220043182373,
                "transform": {
                    "location": {
                        "x": 2876.635986328125,
                        "y": 4246.92724609375,
                        "z": 360.3406982421875
                    },
                    "rotation": {
                        "roll": 0.0010383593617007136,
                        "pitch": -0.29755035042762756,
                        "yaw": -170.7974853515625
                    }
                },
                "velocity": {
                    "x": -6.458768367767334,
                    "y": -1.0468875169754028,
                    "z": -0.045436203479766846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.057953834533691,
                "transform": {
                    "location": {
                        "x": 2859.561279296875,
                        "y": 4240.8759765625,
                        "z": 360.225341796875
                    },
                    "rotation": {
                        "roll": 0.002226275857537985,
                        "pitch": -0.21976132690906525,
                        "yaw": -170.7543487548828
                    }
                },
                "velocity": {
                    "x": -6.966320514678955,
                    "y": -1.1324149370193481,
                    "z": -0.05220962315797806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8857831954956055,
                "transform": {
                    "location": {
                        "x": 2859.153564453125,
                        "y": 4244.095703125,
                        "z": 360.2247619628906
                    },
                    "rotation": {
                        "roll": 0.002089303219690919,
                        "pitch": -0.22381845116615295,
                        "yaw": -170.80267333984375
                    }
                },
                "velocity": {
                    "x": -6.797252655029297,
                    "y": -1.0994186401367188,
                    "z": -0.05143193155527115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7782008647918701,
        "expert_target_speed": 7.185663932941673,
        "target_point": [
            16.242350733050028,
            -1.2019183057200244
        ],
        "target_point_next": [
            57.669063053358386,
            -8.117630236861215
        ]
    },
    "560": {
        "acceleration": [
            -2.169961929321289,
            -0.2050185203552246,
            0.0009735673666000366
        ],
        "angular_velocity": [
            0.15450310707092285,
            0.18987298011779785,
            -6.8673272132873535
        ],
        "forward_vector": [
            -0.9527743458747864,
            -0.3036617636680603,
            -0.0032538115046918392
        ],
        "right_vector": [
            0.3036678433418274,
            -0.9527767300605774,
            -0.0015527249779552221
        ],
        "location": [
            2904.4697265625,
            4249.50634765625,
            360.53765869140625
        ],
        "rotation": [
            0.08896509557962418,
            -0.18643000721931458,
            -162.32223510742188
        ],
        "velocity": [
            -6.481317043304443,
            -1.9856196641921997,
            -0.04553494229912758
        ],
        "speed": 6.778654443667666,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 31.289072036743164,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2873.8271484375,
                4243.18115234375,
                360.3634338378906
            ],
            "velocity": [
                -5.168235778808594,
                -0.8358914256095886,
                -0.03706285357475281
            ],
            "speed_kmh": 18.847899341268906,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042726516723633,
                "transform": {
                    "location": {
                        "x": 2885.841552734375,
                        "y": 4251.91259765625,
                        "z": 360.4188537597656
                    },
                    "rotation": {
                        "roll": 0.0003404501767363399,
                        "pitch": 0.3913971483707428,
                        "yaw": 9.18999195098877
                    }
                },
                "velocity": {
                    "x": 7.939286231994629,
                    "y": 1.2846328020095825,
                    "z": 0.05381130054593086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02452564239502,
                "transform": {
                    "location": {
                        "x": 2885.295166015625,
                        "y": 4255.1162109375,
                        "z": 360.42034912109375
                    },
                    "rotation": {
                        "roll": 0.0006429931381717324,
                        "pitch": 0.39029064774513245,
                        "yaw": 9.203038215637207
                    }
                },
                "velocity": {
                    "x": 7.921061992645264,
                    "y": 1.2833245992660522,
                    "z": 0.05345965176820755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0015967426588758826,
                "transform": {
                    "location": {
                        "x": 2952.370849609375,
                        "y": 4255.88818359375,
                        "z": 360.9012145996094
                    },
                    "rotation": {
                        "roll": 0.0023589369375258684,
                        "pitch": -0.8835395574569702,
                        "yaw": -170.91690063476562
                    }
                },
                "velocity": {
                    "x": 0.0006933976546861231,
                    "y": 0.00011881511454703286,
                    "z": -0.001433411962352693
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045221328735352,
                "transform": {
                    "location": {
                        "x": 2929.388427734375,
                        "y": 4258.9580078125,
                        "z": 360.72308349609375
                    },
                    "rotation": {
                        "roll": -0.0009460429428145289,
                        "pitch": 0.4171879291534424,
                        "yaw": 9.19930648803711
                    }
                },
                "velocity": {
                    "x": 7.9415483474731445,
                    "y": 1.2860969305038452,
                    "z": 0.05791713669896126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037132263183594,
                "transform": {
                    "location": {
                        "x": 2927.874267578125,
                        "y": 4262.00341796875,
                        "z": 360.7215881347656
                    },
                    "rotation": {
                        "roll": -0.000701900920830667,
                        "pitch": 0.42156606912612915,
                        "yaw": 9.185247421264648
                    }
                },
                "velocity": {
                    "x": 7.933530330657959,
                    "y": 1.2850093841552734,
                    "z": 0.057827021926641464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.79062557220459,
                "transform": {
                    "location": {
                        "x": 2937.94921875,
                        "y": 4256.8486328125,
                        "z": 360.7824401855469
                    },
                    "rotation": {
                        "roll": 0.00020300968026276678,
                        "pitch": -0.4017038941383362,
                        "yaw": -170.78297424316406
                    }
                },
                "velocity": {
                    "x": -6.702907562255859,
                    "y": -1.0867937803268433,
                    "z": -0.050025030970573425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00066236627753824,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0015563985798507929,
                        "pitch": -0.42364245653152466,
                        "yaw": -170.96084594726562
                    }
                },
                "velocity": {
                    "x": -1.8986685972777195e-05,
                    "y": 7.261717655637767e-06,
                    "z": 0.0006620542844757438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.079548358917236,
                "transform": {
                    "location": {
                        "x": 2919.717041015625,
                        "y": 4253.90380859375,
                        "z": 360.6540222167969
                    },
                    "rotation": {
                        "roll": 0.001463945023715496,
                        "pitch": -0.4740629196166992,
                        "yaw": -170.99913024902344
                    }
                },
                "velocity": {
                    "x": -5.014963150024414,
                    "y": -0.806976854801178,
                    "z": -0.02733417972922325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017215728759766,
                "transform": {
                    "location": {
                        "x": 2970.348876953125,
                        "y": 4265.587890625,
                        "z": 361.0404357910156
                    },
                    "rotation": {
                        "roll": -0.000457763351732865,
                        "pitch": 0.4980505406856537,
                        "yaw": 9.1755952835083
                    }
                },
                "velocity": {
                    "x": 7.914344787597656,
                    "y": 1.2783396244049072,
                    "z": 0.06884773075580597
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.039551734924316,
                "transform": {
                    "location": {
                        "x": 2969.97265625,
                        "y": 4268.8173828125,
                        "z": 361.0516357421875
                    },
                    "rotation": {
                        "roll": -0.00018310805899091065,
                        "pitch": 0.49993565678596497,
                        "yaw": 9.193662643432617
                    }
                },
                "velocity": {
                    "x": 7.936009883880615,
                    "y": 1.2843363285064697,
                    "z": 0.0680757686495781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.235527515411377,
                "transform": {
                    "location": {
                        "x": 2873.8271484375,
                        "y": 4243.18115234375,
                        "z": 360.3634338378906
                    },
                    "rotation": {
                        "roll": 0.0018858576659113169,
                        "pitch": -0.42511093616485596,
                        "yaw": -170.87203979492188
                    }
                },
                "velocity": {
                    "x": -5.168235778808594,
                    "y": -0.8358914256095886,
                    "z": -0.03706285357475281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.309911727905273,
                "transform": {
                    "location": {
                        "x": 2874.762451171875,
                        "y": 4246.62353515625,
                        "z": 360.3273620605469
                    },
                    "rotation": {
                        "roll": -0.0002746563986875117,
                        "pitch": -0.2723742723464966,
                        "yaw": -170.80116271972656
                    }
                },
                "velocity": {
                    "x": -8.203041076660156,
                    "y": -1.3272260427474976,
                    "z": -0.05676370859146118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.837304592132568,
                "transform": {
                    "location": {
                        "x": 2857.796142578125,
                        "y": 4240.5888671875,
                        "z": 360.21197509765625
                    },
                    "rotation": {
                        "roll": 0.0010048772674053907,
                        "pitch": -0.41024163365364075,
                        "yaw": -170.75942993164062
                    }
                },
                "velocity": {
                    "x": -6.748379230499268,
                    "y": -1.0979106426239014,
                    "z": -0.05198981985449791
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.895613193511963,
                "transform": {
                    "location": {
                        "x": 2857.38671875,
                        "y": 4243.81005859375,
                        "z": 360.2112121582031
                    },
                    "rotation": {
                        "roll": 0.0001313573302468285,
                        "pitch": -0.3829003870487213,
                        "yaw": -170.8055419921875
                    }
                },
                "velocity": {
                    "x": -6.8070573806762695,
                    "y": -1.1003272533416748,
                    "z": -0.0522489957511425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7535097002983093,
        "expert_target_speed": 7.627288287871793,
        "target_point": [
            14.629071549566243,
            -0.9188032481763115
        ],
        "target_point_next": [
            56.16923910436482,
            -7.116709725639177
        ]
    },
    "565": {
        "acceleration": [
            -1.8692874908447266,
            0.13469457626342773,
            -0.0012862682342529297
        ],
        "angular_velocity": [
            0.1870536059141159,
            -0.008500747382640839,
            -1.7988078594207764
        ],
        "forward_vector": [
            -0.9580252170562744,
            -0.2866671085357666,
            -0.0031120723579078913
        ],
        "right_vector": [
            0.2866743206977844,
            -0.9580256342887878,
            -0.0021933845710009336
        ],
        "location": [
            2902.783447265625,
            4249.0029296875,
            360.5255432128906
        ],
        "rotation": [
            0.12567238509655,
            -0.17830890417099,
            -163.34140014648438
        ],
        "velocity": [
            -6.9817118644714355,
            -1.9977155923843384,
            -0.049080584198236465
        ],
        "speed": 7.261898384482994,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.892894744873047,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2872.487060546875,
                4242.9638671875,
                360.3533630371094
            ],
            "velocity": [
                -5.532817363739014,
                -0.8952008485794067,
                -0.0398634672164917
            ],
            "speed_kmh": 20.17768419814495,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2847.231201171875,
                        "y": 4248.85498046875,
                        "z": 360.52752685546875
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2847.75048828125,
                        "y": 4245.646484375,
                        "z": 360.52752685546875
                    },
                    "rotation": {
                        "roll": 6.670303420719392e-09,
                        "pitch": 0.4402671456336975,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047733306884766,
                "transform": {
                    "location": {
                        "x": 2887.8271484375,
                        "y": 4252.23388671875,
                        "z": 360.4324951171875
                    },
                    "rotation": {
                        "roll": -0.0004882831708528101,
                        "pitch": 0.39229872822761536,
                        "yaw": 9.192719459533691
                    }
                },
                "velocity": {
                    "x": 7.944234848022461,
                    "y": 1.2854290008544922,
                    "z": 0.05313811078667641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045583724975586,
                "transform": {
                    "location": {
                        "x": 2887.278564453125,
                        "y": 4255.43701171875,
                        "z": 360.4339904785156
                    },
                    "rotation": {
                        "roll": -0.00045776026672683656,
                        "pitch": 0.39541327953338623,
                        "yaw": 9.199146270751953
                    }
                },
                "velocity": {
                    "x": 7.941941738128662,
                    "y": 1.2861526012420654,
                    "z": 0.052799660712480545
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0031707240268588066,
                "transform": {
                    "location": {
                        "x": 2952.368408203125,
                        "y": 4255.88720703125,
                        "z": 360.8982238769531
                    },
                    "rotation": {
                        "roll": 0.0005470551550388336,
                        "pitch": -0.5263616442680359,
                        "yaw": -170.9169158935547
                    }
                },
                "velocity": {
                    "x": 0.0026567112654447556,
                    "y": 0.0004028247494716197,
                    "z": -0.0016831840621307492
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079083442687988,
                "transform": {
                    "location": {
                        "x": 2931.378173828125,
                        "y": 4259.28076171875,
                        "z": 360.73773193359375
                    },
                    "rotation": {
                        "roll": -0.0003356921370141208,
                        "pitch": 0.4207259714603424,
                        "yaw": 9.198932647705078
                    }
                },
                "velocity": {
                    "x": 7.974958896636963,
                    "y": 1.2914915084838867,
                    "z": 0.06049725413322449
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034707069396973,
                "transform": {
                    "location": {
                        "x": 2929.857421875,
                        "y": 4262.32421875,
                        "z": 360.7362365722656
                    },
                    "rotation": {
                        "roll": -0.00012206628161948174,
                        "pitch": 0.42326679825782776,
                        "yaw": 9.209877014160156
                    }
                },
                "velocity": {
                    "x": 7.931227207183838,
                    "y": 1.2840158939361572,
                    "z": 0.05879146605730057
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.788620948791504,
                "transform": {
                    "location": {
                        "x": 2936.138671875,
                        "y": 4256.5546875,
                        "z": 360.76898193359375
                    },
                    "rotation": {
                        "roll": 0.0003393031656742096,
                        "pitch": -0.39861664175987244,
                        "yaw": -170.79209899902344
                    }
                },
                "velocity": {
                    "x": -7.688135623931885,
                    "y": -1.245731234550476,
                    "z": -0.057802971452474594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002250117831863463,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0015563985798507929,
                        "pitch": -0.42364245653152466,
                        "yaw": -170.96084594726562
                    }
                },
                "velocity": {
                    "x": -1.6949325072346255e-05,
                    "y": -2.6855263058678247e-05,
                    "z": -0.0002227595541626215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.47968053817749,
                "transform": {
                    "location": {
                        "x": 2918.403564453125,
                        "y": 4253.69189453125,
                        "z": 360.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0003021417651325464,
                        "pitch": -0.35976654291152954,
                        "yaw": -170.94956970214844
                    }
                },
                "velocity": {
                    "x": -5.4094767570495605,
                    "y": -0.8734471797943115,
                    "z": -0.039335690438747406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2972.365966796875,
                        "y": 4265.89111328125,
                        "z": 361.06060791015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2971.990234375,
                        "y": 4269.1201171875,
                        "z": 361.06964111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.604912281036377,
                "transform": {
                    "location": {
                        "x": 2872.487060546875,
                        "y": 4242.9638671875,
                        "z": 360.3533630371094
                    },
                    "rotation": {
                        "roll": 0.0005371182924136519,
                        "pitch": -0.3719174265861511,
                        "yaw": -170.95591735839844
                    }
                },
                "velocity": {
                    "x": -5.532817363739014,
                    "y": -0.8952008485794067,
                    "z": -0.0398634672164917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.120792388916016,
                "transform": {
                    "location": {
                        "x": 2872.68115234375,
                        "y": 4246.28662109375,
                        "z": 360.31353759765625
                    },
                    "rotation": {
                        "roll": -0.0002136182738468051,
                        "pitch": -0.38311895728111267,
                        "yaw": -170.8050079345703
                    }
                },
                "velocity": {
                    "x": -8.016229629516602,
                    "y": -1.2976784706115723,
                    "z": -0.058013856410980225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.31423282623291,
                "transform": {
                    "location": {
                        "x": 2856.19482421875,
                        "y": 4240.32861328125,
                        "z": 360.1996765136719
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": -0.5181517601013184,
                        "yaw": -170.77294921875
                    }
                },
                "velocity": {
                    "x": -6.232358932495117,
                    "y": -1.0123639106750488,
                    "z": -0.04861091822385788
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.376861095428467,
                "transform": {
                    "location": {
                        "x": 2855.76953125,
                        "y": 4243.548828125,
                        "z": 360.1985778808594
                    },
                    "rotation": {
                        "roll": -0.00015259087376762182,
                        "pitch": -0.4878803789615631,
                        "yaw": -170.8174285888672
                    }
                },
                "velocity": {
                    "x": -6.294911861419678,
                    "y": -1.0178956985473633,
                    "z": -0.04830378293991089
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5443620681762695,
        "expert_target_speed": 8.020587720384587,
        "target_point": [
            12.883280006651312,
            -0.6573376353868969
        ],
        "target_point_next": [
            54.52711799411029,
            -6.115388831407827
        ]
    },
    "570": {
        "acceleration": [
            -1.6707897186279297,
            0.24801254272460938,
            -0.03329284489154816
        ],
        "angular_velocity": [
            0.20480605959892273,
            -0.0234051700681448,
            -7.900054931640625
        ],
        "forward_vector": [
            -0.9641788601875305,
            -0.26522982120513916,
            -0.0034978315234184265
        ],
        "right_vector": [
            0.2652406394481659,
            -0.9641772508621216,
            -0.003097931854426861
        ],
        "location": [
            2900.9814453125,
            4248.50537109375,
            360.51287841796875
        ],
        "rotation": [
            0.17749980092048645,
            -0.20041139423847198,
            -164.61929321289062
        ],
        "velocity": [
            -7.416874885559082,
            -1.9477615356445312,
            -0.05324500426650047
        ],
        "speed": 7.668364106364107,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.66943359375,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2870.866455078125,
                4242.70263671875,
                360.3404235839844
            ],
            "velocity": [
                -7.454280376434326,
                -1.2058563232421875,
                -0.052993886172771454
            ],
            "speed_kmh": 27.184933162724583,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1722794771194458,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.13812255859375
                    },
                    "rotation": {
                        "roll": -6.103330088080838e-05,
                        "pitch": 0.4438188374042511,
                        "yaw": 9.19157600402832
                    }
                },
                "velocity": {
                    "x": 0.008696138858795166,
                    "y": 0.0016486926469951868,
                    "z": -1.1722460985183716
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1890708208084106,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.13702392578125
                    },
                    "rotation": {
                        "roll": 0.00013992299500387162,
                        "pitch": 0.4429992139339447,
                        "yaw": 9.191632270812988
                    }
                },
                "velocity": {
                    "x": 0.008852270431816578,
                    "y": 0.00161005521658808,
                    "z": -1.1890367269515991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045598983764648,
                "transform": {
                    "location": {
                        "x": 2889.81298828125,
                        "y": 4252.5546875,
                        "z": 360.4461364746094
                    },
                    "rotation": {
                        "roll": -0.001068115932866931,
                        "pitch": 0.392496794462204,
                        "yaw": 9.180437088012695
                    }
                },
                "velocity": {
                    "x": 7.9423346519470215,
                    "y": 1.2838026285171509,
                    "z": 0.05324162542819977
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033895492553711,
                "transform": {
                    "location": {
                        "x": 2889.2626953125,
                        "y": 4255.7587890625,
                        "z": 360.44757080078125
                    },
                    "rotation": {
                        "roll": 0.0007324115140363574,
                        "pitch": 0.3921211361885071,
                        "yaw": 9.19582462310791
                    }
                },
                "velocity": {
                    "x": 7.930721282958984,
                    "y": 1.282287359237671,
                    "z": 0.05357474088668823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0015522348694503307,
                "transform": {
                    "location": {
                        "x": 2952.3671875,
                        "y": 4255.88720703125,
                        "z": 360.8970642089844
                    },
                    "rotation": {
                        "roll": 0.00033004124998115003,
                        "pitch": -0.3924284875392914,
                        "yaw": -170.9169158935547
                    }
                },
                "velocity": {
                    "x": -5.0667971663642675e-05,
                    "y": -9.976983710657805e-05,
                    "z": -0.0015481963055208325
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044839859008789,
                "transform": {
                    "location": {
                        "x": 2933.367431640625,
                        "y": 4259.6025390625,
                        "z": 360.7525634765625
                    },
                    "rotation": {
                        "roll": 0.0009635862661525607,
                        "pitch": 0.4210948050022125,
                        "yaw": 9.1978759765625
                    }
                },
                "velocity": {
                    "x": 7.941296100616455,
                    "y": 1.285172700881958,
                    "z": 0.060014884918928146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035723686218262,
                "transform": {
                    "location": {
                        "x": 2931.84033203125,
                        "y": 4262.64501953125,
                        "z": 360.75091552734375
                    },
                    "rotation": {
                        "roll": -0.0007019012700766325,
                        "pitch": 0.42542514204978943,
                        "yaw": 9.187393188476562
                    }
                },
                "velocity": {
                    "x": 7.932120323181152,
                    "y": 1.2847853899002075,
                    "z": 0.06040319427847862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042143821716309,
                "transform": {
                    "location": {
                        "x": 2934.14453125,
                        "y": 4256.23193359375,
                        "z": 360.7542419433594
                    },
                    "rotation": {
                        "roll": 0.000392295653000474,
                        "pitch": -0.4099411070346832,
                        "yaw": -170.8051300048828
                    }
                },
                "velocity": {
                    "x": -7.938605308532715,
                    "y": -1.2849382162094116,
                    "z": -0.05963629484176636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002567423216532916,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0025329620111733675,
                        "pitch": -0.42361512780189514,
                        "yaw": -170.96099853515625
                    }
                },
                "velocity": {
                    "x": -1.3996511370351072e-05,
                    "y": -1.7159804883704055e-06,
                    "z": 0.0002563547750469297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.865013122558594,
                "transform": {
                    "location": {
                        "x": 2916.960205078125,
                        "y": 4253.45849609375,
                        "z": 360.6344299316406
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": -0.16494223475456238,
                        "yaw": -170.8857421875
                    }
                },
                "velocity": {
                    "x": -6.7765679359436035,
                    "y": -1.0973175764083862,
                    "z": -0.049283258616924286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2974.4296875,
                        "y": 4266.16796875,
                        "z": 361.0849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2974.054931640625,
                        "y": 4269.39599609375,
                        "z": 361.0884704589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5054954290390015,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.551370143890381,
                "transform": {
                    "location": {
                        "x": 2870.866455078125,
                        "y": 4242.70263671875,
                        "z": 360.3404235839844
                    },
                    "rotation": {
                        "roll": -9.155134466709569e-05,
                        "pitch": -0.23971913754940033,
                        "yaw": -170.8674774169922
                    }
                },
                "velocity": {
                    "x": -7.454280376434326,
                    "y": -1.2058563232421875,
                    "z": -0.052993886172771454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.641587257385254,
                "transform": {
                    "location": {
                        "x": 2870.865966796875,
                        "y": 4245.9931640625,
                        "z": 360.30120849609375
                    },
                    "rotation": {
                        "roll": 0.001481418963521719,
                        "pitch": -0.4790079593658447,
                        "yaw": -170.80581665039062
                    }
                },
                "velocity": {
                    "x": -6.556081771850586,
                    "y": -1.0612210035324097,
                    "z": -0.04781145602464676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.825432300567627,
                "transform": {
                    "location": {
                        "x": 2854.57861328125,
                        "y": 4240.06591796875,
                        "z": 360.187255859375
                    },
                    "rotation": {
                        "roll": -0.00045776268234476447,
                        "pitch": -0.3781397342681885,
                        "yaw": -170.77723693847656
                    }
                },
                "velocity": {
                    "x": -6.737008571624756,
                    "y": -1.0938961505889893,
                    "z": -0.05135677754878998
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.787194728851318,
                "transform": {
                    "location": {
                        "x": 2854.15087890625,
                        "y": 4243.28662109375,
                        "z": 360.186279296875
                    },
                    "rotation": {
                        "roll": 0.00035037248744629323,
                        "pitch": -0.39919722080230713,
                        "yaw": -170.8122100830078
                    }
                },
                "velocity": {
                    "x": -6.699965000152588,
                    "y": -1.0834559202194214,
                    "z": -0.050995152443647385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4663812816143036,
        "expert_target_speed": 8.339844415553701,
        "target_point": [
            11.025304483133587,
            -0.3716461985226638
        ],
        "target_point_next": [
            52.78050903759101,
            -4.899610178010008
        ]
    },
    "575": {
        "acceleration": [
            -1.7042064666748047,
            0.4746866226196289,
            -0.011321306228637695
        ],
        "angular_velocity": [
            0.166973277926445,
            0.033727698028087616,
            -3.5252678394317627
        ],
        "forward_vector": [
            -0.9702666401863098,
            -0.24200968444347382,
            -0.0037448315415531397
        ],
        "right_vector": [
            0.2420242577791214,
            -0.9702615737915039,
            -0.0041005793027579784
        ],
        "location": [
            2899.074951171875,
            4248.02587890625,
            360.4994201660156
        ],
        "rotation": [
            0.23494821786880493,
            -0.2145635485649109,
            -165.99472045898438
        ],
        "velocity": [
            -7.836067199707031,
            -1.8466957807540894,
            -0.05410955473780632
        ],
        "speed": 8.050728815764407,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.618206024169922,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2868.97900390625,
                4242.3974609375,
                360.3280029296875
            ],
            "velocity": [
                -7.289012432098389,
                -1.180715799331665,
                -0.05197268724441528
            ],
            "speed_kmh": 26.583140367497442,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1491309255361557,
                "transform": {
                    "location": {
                        "x": 2847.231689453125,
                        "y": 4248.85498046875,
                        "z": 360.1149597167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.445082426071167,
                        "yaw": 9.191587448120117
                    }
                },
                "velocity": {
                    "x": -0.0011369683779776096,
                    "y": -0.00023887562565505505,
                    "z": 0.14912639558315277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15033164620399475,
                "transform": {
                    "location": {
                        "x": 2847.751220703125,
                        "y": 4245.646484375,
                        "z": 360.1131286621094
                    },
                    "rotation": {
                        "roll": 0.00010678492981242016,
                        "pitch": 0.4434431791305542,
                        "yaw": 9.191673278808594
                    }
                },
                "velocity": {
                    "x": -0.0011341635836288333,
                    "y": -0.00022039326722733676,
                    "z": 0.15032720565795898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04549789428711,
                "transform": {
                    "location": {
                        "x": 2891.79833984375,
                        "y": 4252.875,
                        "z": 360.4597473144531
                    },
                    "rotation": {
                        "roll": 1.233998574434736e-07,
                        "pitch": 0.3922440707683563,
                        "yaw": 9.182846069335938
                    }
                },
                "velocity": {
                    "x": 7.942256927490234,
                    "y": 1.283643364906311,
                    "z": 0.053334493190050125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037196159362793,
                "transform": {
                    "location": {
                        "x": 2891.24560546875,
                        "y": 4256.0791015625,
                        "z": 360.46124267578125
                    },
                    "rotation": {
                        "roll": 0.0002280996850458905,
                        "pitch": 0.393514484167099,
                        "yaw": 9.189336776733398
                    }
                },
                "velocity": {
                    "x": 7.933874130249023,
                    "y": 1.283479928970337,
                    "z": 0.05335618928074837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00038634019438177347,
                "transform": {
                    "location": {
                        "x": 2952.367431640625,
                        "y": 4255.88720703125,
                        "z": 360.8973388671875
                    },
                    "rotation": {
                        "roll": -0.0006103513296693563,
                        "pitch": -0.4225701093673706,
                        "yaw": -170.9169464111328
                    }
                },
                "velocity": {
                    "x": -0.00036739095230586827,
                    "y": -3.790224945987575e-05,
                    "z": 0.00011334053851896897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078341484069824,
                "transform": {
                    "location": {
                        "x": 2935.357177734375,
                        "y": 4259.9248046875,
                        "z": 360.7674560546875
                    },
                    "rotation": {
                        "roll": 0.00021815176296513528,
                        "pitch": 0.4227818548679352,
                        "yaw": 9.190404891967773
                    }
                },
                "velocity": {
                    "x": 7.974464416503906,
                    "y": 1.2899000644683838,
                    "z": 0.06065615639090538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036310195922852,
                "transform": {
                    "location": {
                        "x": 2933.823486328125,
                        "y": 4262.96728515625,
                        "z": 360.7657470703125
                    },
                    "rotation": {
                        "roll": -0.0005798349739052355,
                        "pitch": 0.425438791513443,
                        "yaw": 9.219700813293457
                    }
                },
                "velocity": {
                    "x": 7.932433128356934,
                    "y": 1.2865477800369263,
                    "z": 0.05981423333287239
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.427796363830566,
                "transform": {
                    "location": {
                        "x": 2932.26123046875,
                        "y": 4255.92724609375,
                        "z": 360.74041748046875
                    },
                    "rotation": {
                        "roll": 4.149257802055217e-05,
                        "pitch": -0.43264463543891907,
                        "yaw": -170.8084259033203
                    }
                },
                "velocity": {
                    "x": -7.332347869873047,
                    "y": -1.1856669187545776,
                    "z": -0.05504127964377403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003066189237870276,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": -0.42394980788230896,
                        "yaw": -170.96099853515625
                    }
                },
                "velocity": {
                    "x": -3.9055198612913955e-06,
                    "y": -1.1647120118141174e-05,
                    "z": -0.0003063727344851941
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.70893669128418,
                "transform": {
                    "location": {
                        "x": 2914.999267578125,
                        "y": 4253.140625,
                        "z": 360.6203918457031
                    },
                    "rotation": {
                        "roll": -0.002258300082758069,
                        "pitch": -0.04623354971408844,
                        "yaw": -170.79945373535156
                    }
                },
                "velocity": {
                    "x": -8.596429824829102,
                    "y": -1.3939590454101562,
                    "z": -0.06208251789212227
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3843,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2976.489013671875,
                        "y": 4266.47802734375,
                        "z": 361.1057434082031
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3844,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2976.11279296875,
                        "y": 4269.71533203125,
                        "z": 361.1070251464844
                    },
                    "rotation": {
                        "roll": -3.3351894579425334e-09,
                        "pitch": 0.5180288553237915,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.3842058181762695,
                "transform": {
                    "location": {
                        "x": 2868.97900390625,
                        "y": 4242.3974609375,
                        "z": 360.3280029296875
                    },
                    "rotation": {
                        "roll": 0.00034246049472130835,
                        "pitch": -0.3729556202888489,
                        "yaw": -170.81732177734375
                    }
                },
                "velocity": {
                    "x": -7.289012432098389,
                    "y": -1.180715799331665,
                    "z": -0.05197268724441528
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.273708343505859,
                "transform": {
                    "location": {
                        "x": 2869.303955078125,
                        "y": 4245.73974609375,
                        "z": 360.2896728515625
                    },
                    "rotation": {
                        "roll": 0.0002664322964847088,
                        "pitch": -0.45052608847618103,
                        "yaw": -170.80886840820312
                    }
                },
                "velocity": {
                    "x": -6.193015098571777,
                    "y": -1.0019710063934326,
                    "z": -0.04513603448867798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.538232803344727,
                "transform": {
                    "location": {
                        "x": 2852.914306640625,
                        "y": 4239.79638671875,
                        "z": 360.1744384765625
                    },
                    "rotation": {
                        "roll": -0.0007629385218024254,
                        "pitch": -0.4645962715148926,
                        "yaw": -170.78793334960938
                    }
                },
                "velocity": {
                    "x": -6.453744411468506,
                    "y": -1.0464611053466797,
                    "z": -0.0508405864238739
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.57179069519043,
                "transform": {
                    "location": {
                        "x": 2852.487060546875,
                        "y": 4243.017578125,
                        "z": 360.1734313964844
                    },
                    "rotation": {
                        "roll": -0.00012206676183268428,
                        "pitch": -0.45263659954071045,
                        "yaw": -170.81651306152344
                    }
                },
                "velocity": {
                    "x": -6.4873223304748535,
                    "y": -1.0490590333938599,
                    "z": -0.05060962215065956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33111414313316345,
        "expert_target_speed": 8.629889268007547,
        "target_point": [
            9.065185440968735,
            -0.11074306326656957
        ],
        "target_point_next": [
            50.91704485551778,
            -3.6351477972520687
        ]
    },
    "580": {
        "acceleration": [
            -1.6410255432128906,
            0.029537677764892578,
            -0.006487444043159485
        ],
        "angular_velocity": [
            -0.1439489722251892,
            -0.03360459581017494,
            -5.317074298858643
        ],
        "forward_vector": [
            -0.9746102094650269,
            -0.22387683391571045,
            -0.0037487654481083155
        ],
        "right_vector": [
            0.22388818860054016,
            -0.974610447883606,
            -0.0029363627545535564
        ],
        "location": [
            2897.06298828125,
            4247.56005859375,
            360.4853515625
        ],
        "rotation": [
            0.16824261844158173,
            -0.21478894352912903,
            -167.0630645751953
        ],
        "velocity": [
            -8.248353958129883,
            -1.851144552230835,
            -0.05713954195380211
        ],
        "speed": 8.453524659681948,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 30.267621994018555,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2867.2880859375,
                4242.12353515625,
                360.31689453125
            ],
            "velocity": [
                -5.97552490234375,
                -0.9670124053955078,
                -0.04391704499721527
            ],
            "speed_kmh": 21.79232563692968,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5505752563476562,
                "transform": {
                    "location": {
                        "x": 2847.41796875,
                        "y": 4248.88623046875,
                        "z": 360.1387023925781
                    },
                    "rotation": {
                        "roll": -0.006286627147346735,
                        "pitch": 0.6820831298828125,
                        "yaw": 9.226025581359863
                    }
                },
                "velocity": {
                    "x": 1.527820110321045,
                    "y": 0.2596418559551239,
                    "z": 0.051338329911231995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.390196681022644,
                "transform": {
                    "location": {
                        "x": 2847.900146484375,
                        "y": 4245.671875,
                        "z": 360.1368408203125
                    },
                    "rotation": {
                        "roll": -0.0020751955453306437,
                        "pitch": 0.6130162477493286,
                        "yaw": 9.232708930969238
                    }
                },
                "velocity": {
                    "x": 1.3697233200073242,
                    "y": 0.2321561723947525,
                    "z": 0.05107325315475464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046656608581543,
                "transform": {
                    "location": {
                        "x": 2893.784423828125,
                        "y": 4253.1953125,
                        "z": 360.4734191894531
                    },
                    "rotation": {
                        "roll": 0.0013715093955397606,
                        "pitch": 0.39281782507896423,
                        "yaw": 9.183396339416504
                    }
                },
                "velocity": {
                    "x": 7.943279266357422,
                    "y": 1.2845600843429565,
                    "z": 0.053811270743608475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037246704101562,
                "transform": {
                    "location": {
                        "x": 2893.229248046875,
                        "y": 4256.3994140625,
                        "z": 360.4748229980469
                    },
                    "rotation": {
                        "roll": -3.0516455808538012e-05,
                        "pitch": 0.3936169445514679,
                        "yaw": 9.188681602478027
                    }
                },
                "velocity": {
                    "x": 7.933920860290527,
                    "y": 1.2834584712982178,
                    "z": 0.054381113499403
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037732432247139513,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.0003662067756522447,
                        "pitch": -0.44973379373550415,
                        "yaw": -170.91697692871094
                    }
                },
                "velocity": {
                    "x": -0.00010336905688745901,
                    "y": -1.1208448086108547e-05,
                    "z": 0.0003627159458119422
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045530319213867,
                "transform": {
                    "location": {
                        "x": 2937.346435546875,
                        "y": 4260.24560546875,
                        "z": 360.78228759765625
                    },
                    "rotation": {
                        "roll": 0.0003982361522503197,
                        "pitch": 0.4225018322467804,
                        "yaw": 9.187999725341797
                    }
                },
                "velocity": {
                    "x": 7.94207763671875,
                    "y": 1.2846729755401611,
                    "z": 0.059777095913887024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034724235534668,
                "transform": {
                    "location": {
                        "x": 2935.80615234375,
                        "y": 4263.28857421875,
                        "z": 360.7804870605469
                    },
                    "rotation": {
                        "roll": 0.0014838929055258632,
                        "pitch": 0.4262515902519226,
                        "yaw": 9.193360328674316
                    }
                },
                "velocity": {
                    "x": 7.931198596954346,
                    "y": 1.2842347621917725,
                    "z": 0.06019867584109306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.703044891357422,
                "transform": {
                    "location": {
                        "x": 2930.404541015625,
                        "y": 4255.626953125,
                        "z": 360.72650146484375
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.4153437912464142,
                        "yaw": -170.81396484375
                    }
                },
                "velocity": {
                    "x": -7.60406494140625,
                    "y": -1.2295958995819092,
                    "z": -0.05648010969161987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04939481895417e-05,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": -0.42394980788230896,
                        "yaw": -170.96099853515625
                    }
                },
                "velocity": {
                    "x": -2.2943988369661383e-05,
                    "y": 7.175057817221386e-06,
                    "z": -7.682036084588617e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.440277099609375,
                "transform": {
                    "location": {
                        "x": 2912.725341796875,
                        "y": 4252.77197265625,
                        "z": 360.60406494140625
                    },
                    "rotation": {
                        "roll": -0.0003662093949969858,
                        "pitch": -0.19988547265529633,
                        "yaw": -170.80531311035156
                    }
                },
                "velocity": {
                    "x": -9.3181734085083,
                    "y": -1.51199209690094,
                    "z": -0.06597535312175751
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.053423881530762,
                "transform": {
                    "location": {
                        "x": 2867.2880859375,
                        "y": 4242.12353515625,
                        "z": 360.31689453125
                    },
                    "rotation": {
                        "roll": 0.00020651778322644532,
                        "pitch": -0.5033029317855835,
                        "yaw": -170.80592346191406
                    }
                },
                "velocity": {
                    "x": -5.97552490234375,
                    "y": -0.9670124053955078,
                    "z": -0.04391704499721527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.28443717956543,
                "transform": {
                    "location": {
                        "x": 2867.7333984375,
                        "y": 4245.48583984375,
                        "z": 360.278076171875
                    },
                    "rotation": {
                        "roll": 0.0003935032873414457,
                        "pitch": -0.415897011756897,
                        "yaw": -170.80958557128906
                    }
                },
                "velocity": {
                    "x": -6.203601360321045,
                    "y": -1.0037480592727661,
                    "z": -0.044411733746528625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.251391410827637,
                "transform": {
                    "location": {
                        "x": 2851.35107421875,
                        "y": 4239.54248046875,
                        "z": 360.1623229980469
                    },
                    "rotation": {
                        "roll": 0.0003681302769109607,
                        "pitch": -0.49578291177749634,
                        "yaw": -170.7933807373047
                    }
                },
                "velocity": {
                    "x": -6.170834064483643,
                    "y": -0.9991864562034607,
                    "z": -0.04824391379952431
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.304949760437012,
                "transform": {
                    "location": {
                        "x": 2850.909423828125,
                        "y": 4242.7626953125,
                        "z": 360.16119384765625
                    },
                    "rotation": {
                        "roll": 0.0008561979630030692,
                        "pitch": -0.4779970943927765,
                        "yaw": -170.82424926757812
                    }
                },
                "velocity": {
                    "x": -6.2241082191467285,
                    "y": -1.0051993131637573,
                    "z": -0.04939432442188263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26339808106422424,
        "expert_target_speed": 8.924624959237274,
        "target_point": [
            48.910791033401615,
            -2.688721111749448
        ],
        "target_point_next": [
            48.910791033401615,
            -2.688721111749448
        ]
    },
    "585": {
        "acceleration": [
            -0.2875328063964844,
            -0.5270290374755859,
            -0.0026683509349823
        ],
        "angular_velocity": [
            -0.7399756908416748,
            -0.5204194188117981,
            4.010399341583252
        ],
        "forward_vector": [
            -0.9755724668502808,
            -0.21963371336460114,
            -0.004409655928611755
        ],
        "right_vector": [
            0.21963778138160706,
            -0.9755814075469971,
            -0.00045579273137263954
        ],
        "location": [
            2894.963623046875,
            4247.087890625,
            360.47088623046875
        ],
        "rotation": [
            0.026115255430340767,
            -0.2526555061340332,
            -167.31236267089844
        ],
        "velocity": [
            -8.472542762756348,
            -1.9350119829177856,
            -0.057776592671871185
        ],
        "speed": 8.690699180202383,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 29.4500732421875,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2865.97265625,
                4241.91064453125,
                360.3074035644531
            ],
            "velocity": [
                -4.961267948150635,
                -0.8032591342926025,
                -0.04331712797284126
            ],
            "speed_kmh": 18.09381676645817,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9795937538146973,
                "transform": {
                    "location": {
                        "x": 2847.9814453125,
                        "y": 4248.98291015625,
                        "z": 360.1475830078125
                    },
                    "rotation": {
                        "roll": -0.007476805709302425,
                        "pitch": 0.7322850227355957,
                        "yaw": 9.430023193359375
                    }
                },
                "velocity": {
                    "x": 2.9367852210998535,
                    "y": 0.5024105906486511,
                    "z": 0.029246997088193893
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4599361419677734,
                "transform": {
                    "location": {
                        "x": 2848.373291015625,
                        "y": 4245.7529296875,
                        "z": 360.14501953125
                    },
                    "rotation": {
                        "roll": -0.00244141579605639,
                        "pitch": 0.6213559508323669,
                        "yaw": 9.440189361572266
                    }
                },
                "velocity": {
                    "x": 2.4246416091918945,
                    "y": 0.41444504261016846,
                    "z": 0.025196360424160957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045982360839844,
                "transform": {
                    "location": {
                        "x": 2895.77001953125,
                        "y": 4253.51708984375,
                        "z": 360.4870910644531
                    },
                    "rotation": {
                        "roll": -0.0018615706358104944,
                        "pitch": 0.39435461163520813,
                        "yaw": 9.196999549865723
                    }
                },
                "velocity": {
                    "x": 7.942245960235596,
                    "y": 1.286704421043396,
                    "z": 0.05440186336636543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03828239440918,
                "transform": {
                    "location": {
                        "x": 2895.212646484375,
                        "y": 4256.7197265625,
                        "z": 360.4884948730469
                    },
                    "rotation": {
                        "roll": 0.0013433113927021623,
                        "pitch": 0.39550209045410156,
                        "yaw": 9.192340850830078
                    }
                },
                "velocity": {
                    "x": 7.934854507446289,
                    "y": 1.2841559648513794,
                    "z": 0.05491354689002037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037588964914903045,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.0005188033101148903,
                        "pitch": -0.4470221996307373,
                        "yaw": -170.91700744628906
                    }
                },
                "velocity": {
                    "x": 1.531086854811292e-05,
                    "y": -1.5116110262169968e-05,
                    "z": 0.0003752733755391091
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.078178405761719,
                "transform": {
                    "location": {
                        "x": 2939.336181640625,
                        "y": 4260.5673828125,
                        "z": 360.7971496582031
                    },
                    "rotation": {
                        "roll": -0.0004577617801260203,
                        "pitch": 0.42213982343673706,
                        "yaw": 9.189618110656738
                    }
                },
                "velocity": {
                    "x": 7.974241733551025,
                    "y": 1.2902491092681885,
                    "z": 0.060793351382017136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035989761352539,
                "transform": {
                    "location": {
                        "x": 2937.789306640625,
                        "y": 4263.60888671875,
                        "z": 360.7952575683594
                    },
                    "rotation": {
                        "roll": 0.0014065809082239866,
                        "pitch": 0.42651796340942383,
                        "yaw": 9.209729194641113
                    }
                },
                "velocity": {
                    "x": 7.932480335235596,
                    "y": 1.284238576889038,
                    "z": 0.06011786311864853
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.390918731689453,
                "transform": {
                    "location": {
                        "x": 2928.418701171875,
                        "y": 4255.3056640625,
                        "z": 360.7118225097656
                    },
                    "rotation": {
                        "roll": -6.1032984376652166e-05,
                        "pitch": -0.4028991758823395,
                        "yaw": -170.81590270996094
                    }
                },
                "velocity": {
                    "x": -8.283269882202148,
                    "y": -1.3383384943008423,
                    "z": -0.06171424686908722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.237409540219232e-05,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": -0.42394980788230896,
                        "yaw": -170.96099853515625
                    }
                },
                "velocity": {
                    "x": -2.2929310944164172e-05,
                    "y": 7.897997420514002e-06,
                    "z": -8.913384226616472e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.004645347595215,
                "transform": {
                    "location": {
                        "x": 2910.197509765625,
                        "y": 4252.36181640625,
                        "z": 360.5860595703125
                    },
                    "rotation": {
                        "roll": 0.0016686214366927743,
                        "pitch": -0.11767732352018356,
                        "yaw": -170.79811096191406
                    }
                },
                "velocity": {
                    "x": -10.862671852111816,
                    "y": -1.7602654695510864,
                    "z": -0.07766252011060715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.026060104370117,
                "transform": {
                    "location": {
                        "x": 2865.97265625,
                        "y": 4241.91064453125,
                        "z": 360.3074035644531
                    },
                    "rotation": {
                        "roll": 0.0005421630339697003,
                        "pitch": -0.5328981876373291,
                        "yaw": -170.79824829101562
                    }
                },
                "velocity": {
                    "x": -4.961267948150635,
                    "y": -0.8032591342926025,
                    "z": -0.04331712797284126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.995739459991455,
                "transform": {
                    "location": {
                        "x": 2866.22705078125,
                        "y": 4245.2421875,
                        "z": 360.2672119140625
                    },
                    "rotation": {
                        "roll": 0.0018625068478286266,
                        "pitch": -0.4325217008590698,
                        "yaw": -170.81430053710938
                    }
                },
                "velocity": {
                    "x": -5.918708324432373,
                    "y": -0.9569394588470459,
                    "z": -0.04526577517390251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4158196449279785,
                "transform": {
                    "location": {
                        "x": 2849.780029296875,
                        "y": 4239.28857421875,
                        "z": 360.1501770019531
                    },
                    "rotation": {
                        "roll": -0.00018310292216483504,
                        "pitch": -0.43047264218330383,
                        "yaw": -170.80360412597656
                    }
                },
                "velocity": {
                    "x": -6.33319091796875,
                    "y": -1.0252149105072021,
                    "z": -0.048647623509168625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.396909713745117,
                "transform": {
                    "location": {
                        "x": 2849.3359375,
                        "y": 4242.50830078125,
                        "z": 360.1490783691406
                    },
                    "rotation": {
                        "roll": 0.00053608906455338,
                        "pitch": -0.4418039321899414,
                        "yaw": -170.82763671875
                    }
                },
                "velocity": {
                    "x": -6.31490421295166,
                    "y": -1.0198243856430054,
                    "z": -0.04897375404834747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1432904601097107,
        "expert_target_speed": 9.0914762676817,
        "target_point": [
            46.77021920603714,
            -2.475422177445335
        ],
        "target_point_next": [
            46.77021920603714,
            -2.475422177445335
        ]
    },
    "590": {
        "acceleration": [
            -0.3701210021972656,
            -0.4751729965209961,
            -0.00565744936466217
        ],
        "angular_velocity": [
            -0.29683753848075867,
            -0.2150087207555771,
            0.023173123598098755
        ],
        "forward_vector": [
            -0.9734606146812439,
            -0.22878800332546234,
            -0.0055191232822835445
        ],
        "right_vector": [
            0.22878259420394897,
            -0.973476231098175,
            0.0016016000881791115
        ],
        "location": [
            2892.83837890625,
            4246.59130859375,
            360.4564514160156
        ],
        "rotation": [
            -0.0917663648724556,
            -0.316224068403244,
            -166.77406311035156
        ],
        "velocity": [
            -8.538728713989258,
            -2.0436630249023438,
            -0.060341816395521164
        ],
        "speed": 8.77988875843297,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 28.552824020385742,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2864.70703125,
                4241.7060546875,
                360.2972106933594
            ],
            "velocity": [
                -5.168276786804199,
                -0.8380424976348877,
                -0.03757087141275406
            ],
            "speed_kmh": 18.849296013177526,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.487880706787109,
                "transform": {
                    "location": {
                        "x": 2848.91357421875,
                        "y": 4249.142578125,
                        "z": 360.1554870605469
                    },
                    "rotation": {
                        "roll": -0.0044555640779435635,
                        "pitch": 0.7547426819801331,
                        "yaw": 9.582423210144043
                    }
                },
                "velocity": {
                    "x": 4.422914505004883,
                    "y": 0.7600792050361633,
                    "z": 0.034391164779663086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9768548011779785,
                "transform": {
                    "location": {
                        "x": 2849.1708984375,
                        "y": 4245.88916015625,
                        "z": 360.1520690917969
                    },
                    "rotation": {
                        "roll": -0.0004882851499132812,
                        "pitch": 0.6696522235870361,
                        "yaw": 9.593502044677734
                    }
                },
                "velocity": {
                    "x": 3.9193925857543945,
                    "y": 0.6729305386543274,
                    "z": 0.03000001795589924
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045679092407227,
                "transform": {
                    "location": {
                        "x": 2897.755615234375,
                        "y": 4253.83935546875,
                        "z": 360.5007629394531
                    },
                    "rotation": {
                        "roll": -6.103292616899125e-05,
                        "pitch": 0.39512643218040466,
                        "yaw": 9.19678783416748
                    }
                },
                "velocity": {
                    "x": 7.942023277282715,
                    "y": 1.286089301109314,
                    "z": 0.056540533900260925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035658836364746,
                "transform": {
                    "location": {
                        "x": 2897.1962890625,
                        "y": 4257.0400390625,
                        "z": 360.5022277832031
                    },
                    "rotation": {
                        "roll": 0.0005866464925929904,
                        "pitch": 0.39567282795906067,
                        "yaw": 9.1925048828125
                    }
                },
                "velocity": {
                    "x": 7.932269096374512,
                    "y": 1.2836782932281494,
                    "z": 0.05559076368808746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7253679945715703e-05,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": -1.514799896540353e-05,
                    "y": -2.357009634579299e-06,
                    "z": 2.2533213268616237e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04537296295166,
                "transform": {
                    "location": {
                        "x": 2941.325439453125,
                        "y": 4260.888671875,
                        "z": 360.8119812011719
                    },
                    "rotation": {
                        "roll": -9.154969302471727e-05,
                        "pitch": 0.42265209555625916,
                        "yaw": 9.190682411193848
                    }
                },
                "velocity": {
                    "x": 7.941869735717773,
                    "y": 1.284961223602295,
                    "z": 0.06005844101309776
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035296440124512,
                "transform": {
                    "location": {
                        "x": 2939.7724609375,
                        "y": 4263.92919921875,
                        "z": 360.81005859375
                    },
                    "rotation": {
                        "roll": 0.0007825418142601848,
                        "pitch": 0.42634037137031555,
                        "yaw": 9.18513298034668
                    }
                },
                "velocity": {
                    "x": 7.93175745010376,
                    "y": 1.2843643426895142,
                    "z": 0.060212258249521255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.121353149414062,
                "transform": {
                    "location": {
                        "x": 2926.255615234375,
                        "y": 4254.9560546875,
                        "z": 360.6957702636719
                    },
                    "rotation": {
                        "roll": 1.772290124790743e-05,
                        "pitch": -0.3982546627521515,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -9.004083633422852,
                    "y": -1.4564929008483887,
                    "z": -0.0647096261382103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6427202353952453e-05,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0008850105223245919,
                        "pitch": -0.42371076345443726,
                        "yaw": -170.9610595703125
                    }
                },
                "velocity": {
                    "x": -1.4842673408566043e-05,
                    "y": -1.6486458207509713e-06,
                    "z": 6.843245955678867e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.139137268066406,
                "transform": {
                    "location": {
                        "x": 2907.331787109375,
                        "y": 4251.89794921875,
                        "z": 360.5657043457031
                    },
                    "rotation": {
                        "roll": -0.0004577634099405259,
                        "pitch": -0.14724521338939667,
                        "yaw": -170.7913360595703
                    }
                },
                "velocity": {
                    "x": -11.9822359085083,
                    "y": -1.9435937404632568,
                    "z": -0.08443072438240051
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.235915184020996,
                "transform": {
                    "location": {
                        "x": 2864.70703125,
                        "y": 4241.7060546875,
                        "z": 360.2972106933594
                    },
                    "rotation": {
                        "roll": -0.0013122581876814365,
                        "pitch": -0.4370364546775818,
                        "yaw": -170.79498291015625
                    }
                },
                "velocity": {
                    "x": -5.168276786804199,
                    "y": -0.8380424976348877,
                    "z": -0.03757087141275406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.608536243438721,
                "transform": {
                    "location": {
                        "x": 2864.6923828125,
                        "y": 4244.994140625,
                        "z": 360.2555847167969
                    },
                    "rotation": {
                        "roll": 5.8738321968121454e-05,
                        "pitch": -0.39124003052711487,
                        "yaw": -170.80661010742188
                    }
                },
                "velocity": {
                    "x": -6.523708820343018,
                    "y": -1.0543670654296875,
                    "z": -0.04778621718287468
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.975235462188721,
                "transform": {
                    "location": {
                        "x": 2848.248291015625,
                        "y": 4239.041015625,
                        "z": 360.13824462890625
                    },
                    "rotation": {
                        "roll": 0.0001503735111327842,
                        "pitch": -0.5103995203971863,
                        "yaw": -170.8087921142578
                    }
                },
                "velocity": {
                    "x": -5.8983635902404785,
                    "y": -0.9542573094367981,
                    "z": -0.04624553397297859
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0194292068481445,
                "transform": {
                    "location": {
                        "x": 2847.801513671875,
                        "y": 4242.2607421875,
                        "z": 360.1371154785156
                    },
                    "rotation": {
                        "roll": -0.0008544881129637361,
                        "pitch": -0.486821711063385,
                        "yaw": -170.81976318359375
                    }
                },
                "velocity": {
                    "x": -5.942179203033447,
                    "y": -0.9600899815559387,
                    "z": -0.04756008833646774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002133142203092575,
        "expert_target_speed": 9.151123204029906,
        "target_point": [
            44.562411762242476,
            -2.911891344081612
        ],
        "target_point_next": [
            44.562411762242476,
            -2.911891344081612
        ]
    },
    "595": {
        "acceleration": [
            -0.5234527587890625,
            0.7866382598876953,
            -0.004304423928260803
        ],
        "angular_velocity": [
            0.9020732641220093,
            0.13127242028713226,
            -1.1131316423416138
        ],
        "forward_vector": [
            -0.9735159277915955,
            -0.22854581475257874,
            -0.005790320225059986
        ],
        "right_vector": [
            0.2285527139902115,
            -0.9735313653945923,
            -0.0005518542020581663
        ],
        "location": [
            2890.685546875,
            4246.0849609375,
            360.44146728515625
        ],
        "rotation": [
            0.03161944821476936,
            -0.33176276087760925,
            -166.78829956054688
        ],
        "velocity": [
            -8.678461074829102,
            -1.9698445796966553,
            -0.060505516827106476
        ],
        "speed": 8.899212004188021,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.778196334838867,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2863.292724609375,
                4241.4765625,
                360.2860107421875
            ],
            "velocity": [
                -6.345911026000977,
                -1.028467059135437,
                -0.04666319116950035
            ],
            "speed_kmh": 23.14397097924093,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.447662830352783,
                "transform": {
                    "location": {
                        "x": 2850.17919921875,
                        "y": 4249.3603515625,
                        "z": 360.1656799316406
                    },
                    "rotation": {
                        "roll": -0.0031433182302862406,
                        "pitch": 0.6738801002502441,
                        "yaw": 9.720528602600098
                    }
                },
                "velocity": {
                    "x": 5.368038177490234,
                    "y": 0.9270385503768921,
                    "z": 0.042413320392370224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.353997230529785,
                "transform": {
                    "location": {
                        "x": 2850.330322265625,
                        "y": 4246.08935546875,
                        "z": 360.16131591796875
                    },
                    "rotation": {
                        "roll": 0.0022798788268119097,
                        "pitch": 0.6644817590713501,
                        "yaw": 9.71804428100586
                    }
                },
                "velocity": {
                    "x": 5.275822639465332,
                    "y": 0.9104983806610107,
                    "z": 0.04443491995334625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045805931091309,
                "transform": {
                    "location": {
                        "x": 2899.7412109375,
                        "y": 4254.16162109375,
                        "z": 360.5146484375
                    },
                    "rotation": {
                        "roll": 0.00048060272820293903,
                        "pitch": 0.3975374698638916,
                        "yaw": 9.197895050048828
                    }
                },
                "velocity": {
                    "x": 7.94232177734375,
                    "y": 1.285048246383667,
                    "z": 0.056248024106025696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038203239440918,
                "transform": {
                    "location": {
                        "x": 2899.1796875,
                        "y": 4257.3603515625,
                        "z": 360.5160217285156
                    },
                    "rotation": {
                        "roll": -0.0010375968413427472,
                        "pitch": 0.3987669050693512,
                        "yaw": 9.195722579956055
                    }
                },
                "velocity": {
                    "x": 7.934702396392822,
                    "y": 1.2845336198806763,
                    "z": 0.056396711617708206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002034406061284244,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": -2.205274904554244e-05,
                    "y": -1.0492047294974327e-05,
                    "z": 0.00020196948025841266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07827091217041,
                "transform": {
                    "location": {
                        "x": 2943.315185546875,
                        "y": 4261.21044921875,
                        "z": 360.8269348144531
                    },
                    "rotation": {
                        "roll": -0.00018310286395717412,
                        "pitch": 0.42807525396347046,
                        "yaw": 9.19448471069336
                    }
                },
                "velocity": {
                    "x": 7.9741129875183105,
                    "y": 1.2916233539581299,
                    "z": 0.06079374998807907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035313606262207,
                "transform": {
                    "location": {
                        "x": 2941.755126953125,
                        "y": 4264.25,
                        "z": 360.8249816894531
                    },
                    "rotation": {
                        "roll": -0.00039672572165727615,
                        "pitch": 0.4296939969062805,
                        "yaw": 9.2133207321167
                    }
                },
                "velocity": {
                    "x": 7.9317450523376465,
                    "y": 1.2845747470855713,
                    "z": 0.059650227427482605
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.972135543823242,
                "transform": {
                    "location": {
                        "x": 2923.896240234375,
                        "y": 4254.57470703125,
                        "z": 360.6785888671875
                    },
                    "rotation": {
                        "roll": 0.0012813241919502616,
                        "pitch": -0.39257192611694336,
                        "yaw": -170.8139190673828
                    }
                },
                "velocity": {
                    "x": -9.84383773803711,
                    "y": -1.592878818511963,
                    "z": -0.07138483226299286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008822229574434459,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.8041687011719
                    },
                    "rotation": {
                        "roll": -0.0009460436995141208,
                        "pitch": -0.4232121706008911,
                        "yaw": -170.96112060546875
                    }
                },
                "velocity": {
                    "x": -1.158691884484142e-05,
                    "y": 9.901430530590005e-06,
                    "z": 0.0008820912917144597
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.168049812316895,
                "transform": {
                    "location": {
                        "x": 2904.20361328125,
                        "y": 4251.39013671875,
                        "z": 360.5437316894531
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": -0.1732204109430313,
                        "yaw": -170.78829956054688
                    }
                },
                "velocity": {
                    "x": -12.997953414916992,
                    "y": -2.1077468395233154,
                    "z": -0.09026044607162476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.42888069152832,
                "transform": {
                    "location": {
                        "x": 2863.292724609375,
                        "y": 4241.4765625,
                        "z": 360.2860107421875
                    },
                    "rotation": {
                        "roll": -0.000823978625703603,
                        "pitch": -0.35034769773483276,
                        "yaw": -170.74346923828125
                    }
                },
                "velocity": {
                    "x": -6.345911026000977,
                    "y": -1.028467059135437,
                    "z": -0.04666319116950035
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.925103664398193,
                "transform": {
                    "location": {
                        "x": 2862.8916015625,
                        "y": 4244.70263671875,
                        "z": 360.241943359375
                    },
                    "rotation": {
                        "roll": 0.00017431980813853443,
                        "pitch": -0.3498832583427429,
                        "yaw": -170.81201171875
                    }
                },
                "velocity": {
                    "x": -7.823197364807129,
                    "y": -1.2654882669448853,
                    "z": -0.05822458118200302
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.721309661865234,
                "transform": {
                    "location": {
                        "x": 2846.81689453125,
                        "y": 4238.80908203125,
                        "z": 360.12713623046875
                    },
                    "rotation": {
                        "roll": 0.00038226833567023277,
                        "pitch": -0.4998127222061157,
                        "yaw": -170.8092803955078
                    }
                },
                "velocity": {
                    "x": -5.647679328918457,
                    "y": -0.91385418176651,
                    "z": -0.04442944750189781
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7667341232299805,
                "transform": {
                    "location": {
                        "x": 2846.3564453125,
                        "y": 4242.02685546875,
                        "z": 360.1258239746094
                    },
                    "rotation": {
                        "roll": -0.0021057112608104944,
                        "pitch": -0.48507317900657654,
                        "yaw": -170.81951904296875
                    }
                },
                "velocity": {
                    "x": -5.692660331726074,
                    "y": -0.9202325940132141,
                    "z": -0.04485166817903519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10873591899871826,
        "expert_target_speed": 9.166899211504091,
        "target_point": [
            42.35155678643765,
            -2.9017376113380307
        ],
        "target_point_next": [
            42.35155678643765,
            -2.9017376113380307
        ]
    },
    "600": {
        "acceleration": [
            0.29880523681640625,
            0.9841108322143555,
            0.008838698267936707
        ],
        "angular_velocity": [
            0.5124510526657104,
            -0.1611575484275818,
            -9.214691162109375
        ],
        "forward_vector": [
            -0.9792744517326355,
            -0.2024359405040741,
            -0.006425097584724426
        ],
        "right_vector": [
            0.20246471464633942,
            -0.9792806506156921,
            -0.00419230479747057
        ],
        "location": [
            2888.505859375,
            4245.62255859375,
            360.4264221191406
        ],
        "rotation": [
            0.2402070164680481,
            -0.3681335151195526,
            -168.3203125
        ],
        "velocity": [
            -8.726235389709473,
            -1.7101151943206787,
            -0.06034743785858154
        ],
        "speed": 8.892225708699959,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.45586585998535,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2861.41357421875,
                4241.171875,
                360.2713928222656
            ],
            "velocity": [
                -7.826837539672852,
                -1.268505573272705,
                -0.05928018316626549
            ],
            "speed_kmh": 28.54507318206701,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.58698844909668,
                "transform": {
                    "location": {
                        "x": 2851.53955078125,
                        "y": 4249.5966796875,
                        "z": 360.17608642578125
                    },
                    "rotation": {
                        "roll": 0.0023354545701295137,
                        "pitch": 0.5128856897354126,
                        "yaw": 9.802533149719238
                    }
                },
                "velocity": {
                    "x": 5.504675388336182,
                    "y": 0.9545882940292358,
                    "z": 0.041808031499385834
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.482516765594482,
                "transform": {
                    "location": {
                        "x": 2851.670654296875,
                        "y": 4246.3212890625,
                        "z": 360.1715393066406
                    },
                    "rotation": {
                        "roll": 0.0013473198050633073,
                        "pitch": 0.5176395177841187,
                        "yaw": 9.803038597106934
                    }
                },
                "velocity": {
                    "x": 5.4019622802734375,
                    "y": 0.935462236404419,
                    "z": 0.0412742905318737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046353340148926,
                "transform": {
                    "location": {
                        "x": 2901.726806640625,
                        "y": 4254.48193359375,
                        "z": 360.5285339355469
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.3987669050693512,
                        "yaw": 9.184359550476074
                    }
                },
                "velocity": {
                    "x": 7.9429521560668945,
                    "y": 1.2845536470413208,
                    "z": 0.056846968829631805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035246849060059,
                "transform": {
                    "location": {
                        "x": 2901.162841796875,
                        "y": 4257.6806640625,
                        "z": 360.52984619140625
                    },
                    "rotation": {
                        "roll": -0.0005493132630363107,
                        "pitch": 0.3991767168045044,
                        "yaw": 9.199634552001953
                    }
                },
                "velocity": {
                    "x": 7.931694984436035,
                    "y": 1.2846063375473022,
                    "z": 0.05646286904811859
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00019687472376972437,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": -1.2669637726503424e-05,
                    "y": 3.3333710689475993e-06,
                    "z": 0.00019643835548777133
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045256614685059,
                "transform": {
                    "location": {
                        "x": 2945.3046875,
                        "y": 4261.53271484375,
                        "z": 360.84197998046875
                    },
                    "rotation": {
                        "roll": 0.00047822672058828175,
                        "pitch": 0.4299672245979309,
                        "yaw": 9.197331428527832
                    }
                },
                "velocity": {
                    "x": 7.941605567932129,
                    "y": 1.285879373550415,
                    "z": 0.059782713651657104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035632133483887,
                "transform": {
                    "location": {
                        "x": 2943.73828125,
                        "y": 4264.5703125,
                        "z": 360.83990478515625
                    },
                    "rotation": {
                        "roll": 0.0008040477405302227,
                        "pitch": 0.4347893297672272,
                        "yaw": 9.188054084777832
                    }
                },
                "velocity": {
                    "x": 7.931986331939697,
                    "y": 1.285032033920288,
                    "z": 0.0605548657476902
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.822056770324707,
                "transform": {
                    "location": {
                        "x": 2921.327392578125,
                        "y": 4254.1591796875,
                        "z": 360.6598815917969
                    },
                    "rotation": {
                        "roll": 0.00047286483459174633,
                        "pitch": -0.3909258544445038,
                        "yaw": -170.8101043701172
                    }
                },
                "velocity": {
                    "x": -10.682923316955566,
                    "y": -1.7280267477035522,
                    "z": -0.07733035832643509
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001768473448464647,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.002624514978379011,
                        "pitch": -0.4238336980342865,
                        "yaw": -170.96112060546875
                    }
                },
                "velocity": {
                    "x": -2.0723864508909173e-05,
                    "y": -2.279002274008235e-06,
                    "z": -0.00017561409913469106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.852154731750488,
                "transform": {
                    "location": {
                        "x": 2900.8408203125,
                        "y": 4250.8447265625,
                        "z": 360.5201721191406
                    },
                    "rotation": {
                        "roll": -0.0007629398023709655,
                        "pitch": -0.23398177325725555,
                        "yaw": -170.78878784179688
                    }
                },
                "velocity": {
                    "x": -13.67320442199707,
                    "y": -2.217319965362549,
                    "z": -0.09581044316291809
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.929186820983887,
                "transform": {
                    "location": {
                        "x": 2861.41357421875,
                        "y": 4241.171875,
                        "z": 360.2713928222656
                    },
                    "rotation": {
                        "roll": 0.00034259556559845805,
                        "pitch": -0.27374032139778137,
                        "yaw": -170.78155517578125
                    }
                },
                "velocity": {
                    "x": -7.826837539672852,
                    "y": -1.268505573272705,
                    "z": -0.05928018316626549
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.594352722167969,
                "transform": {
                    "location": {
                        "x": 2860.925537109375,
                        "y": 4244.384765625,
                        "z": 360.2278137207031
                    },
                    "rotation": {
                        "roll": 0.0001225330779561773,
                        "pitch": -0.4165937006473541,
                        "yaw": -170.8140106201172
                    }
                },
                "velocity": {
                    "x": -7.4967522621154785,
                    "y": -1.212322473526001,
                    "z": -0.05630752816796303
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.627738952636719,
                "transform": {
                    "location": {
                        "x": 2845.40771484375,
                        "y": 4238.58154296875,
                        "z": 360.1161193847656
                    },
                    "rotation": {
                        "roll": 0.0008793001179583371,
                        "pitch": -0.47350284457206726,
                        "yaw": -170.80934143066406
                    }
                },
                "velocity": {
                    "x": -5.555323123931885,
                    "y": -0.8988422751426697,
                    "z": -0.04378667101264
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.621576309204102,
                "transform": {
                    "location": {
                        "x": 2844.94580078125,
                        "y": 4241.798828125,
                        "z": 360.1148986816406
                    },
                    "rotation": {
                        "roll": -0.0018615764565765858,
                        "pitch": -0.47176796197891235,
                        "yaw": -170.8133544921875
                    }
                },
                "velocity": {
                    "x": -5.549340724945068,
                    "y": -0.8971810936927795,
                    "z": -0.04477228969335556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09739468991756439,
        "expert_target_speed": 9.179579174284951,
        "target_point": [
            40.185832164855015,
            -1.7799843739152603
        ],
        "target_point_next": [
            40.185832164855015,
            -1.7799843739152603
        ]
    },
    "605": {
        "acceleration": [
            1.2928581237792969,
            0.953824520111084,
            0.023951902985572815
        ],
        "angular_velocity": [
            0.09236908704042435,
            -0.37914368510246277,
            -2.4899699687957764
        ],
        "forward_vector": [
            -0.983902633190155,
            -0.17851927876472473,
            -0.008154420182108879
        ],
        "right_vector": [
            0.17856113612651825,
            -0.9839175343513489,
            -0.004727214574813843
        ],
        "location": [
            2886.357421875,
            4245.22119140625,
            360.4120178222656
        ],
        "rotation": [
            0.2708594799041748,
            -0.4672190546989441,
            -169.71612548828125
        ],
        "velocity": [
            -8.457451820373535,
            -1.4643666744232178,
            -0.0587630532681942
        ],
        "speed": 8.583289640405999,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 27.14328384399414,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2859.565185546875,
                4240.87255859375,
                360.2591247558594
            ],
            "velocity": [
                -6.960521221160889,
                -1.1270337104797363,
                -0.05324207991361618
            ],
            "speed_kmh": 25.38495152733713,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.138327598571777,
                "transform": {
                    "location": {
                        "x": 2853.299560546875,
                        "y": 4249.89404296875,
                        "z": 360.1896667480469
                    },
                    "rotation": {
                        "roll": 0.01613469608128071,
                        "pitch": 0.8199300169944763,
                        "yaw": 9.636007308959961
                    }
                },
                "velocity": {
                    "x": 8.024914741516113,
                    "y": 1.3525556325912476,
                    "z": 0.060994260013103485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.507711410522461,
                "transform": {
                    "location": {
                        "x": 2853.278564453125,
                        "y": 4246.5947265625,
                        "z": 360.1840515136719
                    },
                    "rotation": {
                        "roll": 0.012700282037258148,
                        "pitch": 0.6993908286094666,
                        "yaw": 9.65571403503418
                    }
                },
                "velocity": {
                    "x": 7.402712821960449,
                    "y": 1.249951720237732,
                    "z": 0.056558702141046524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046280860900879,
                "transform": {
                    "location": {
                        "x": 2903.712646484375,
                        "y": 4254.80224609375,
                        "z": 360.5424499511719
                    },
                    "rotation": {
                        "roll": 0.00046532793203368783,
                        "pitch": 0.39957287907600403,
                        "yaw": 9.187328338623047
                    }
                },
                "velocity": {
                    "x": 7.942900657653809,
                    "y": 1.2844264507293701,
                    "z": 0.05665449798107147
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038459777832031,
                "transform": {
                    "location": {
                        "x": 2903.146240234375,
                        "y": 4258.00146484375,
                        "z": 360.5437316894531
                    },
                    "rotation": {
                        "roll": -0.00018310225277673453,
                        "pitch": 0.4014989733695984,
                        "yaw": 9.199945449829102
                    }
                },
                "velocity": {
                    "x": 7.934852600097656,
                    "y": 1.2852131128311157,
                    "z": 0.056261565536260605
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029222926241345704,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": -2.1416470190160908e-05,
                    "y": 1.127468408412824e-06,
                    "z": 0.00029144127620384097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07833480834961,
                "transform": {
                    "location": {
                        "x": 2947.2939453125,
                        "y": 4261.85498046875,
                        "z": 360.8572082519531
                    },
                    "rotation": {
                        "roll": -0.000671388756018132,
                        "pitch": 0.4334506094455719,
                        "yaw": 9.197746276855469
                    }
                },
                "velocity": {
                    "x": 7.974250316619873,
                    "y": 1.2911794185638428,
                    "z": 0.060626037418842316
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036176681518555,
                "transform": {
                    "location": {
                        "x": 2945.72119140625,
                        "y": 4264.8916015625,
                        "z": 360.8549499511719
                    },
                    "rotation": {
                        "roll": -0.0007324220496229827,
                        "pitch": 0.4343112111091614,
                        "yaw": 9.21753215789795
                    }
                },
                "velocity": {
                    "x": 7.932496070861816,
                    "y": 1.2852556705474854,
                    "z": 0.061310138553380966
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.763998985290527,
                "transform": {
                    "location": {
                        "x": 2918.536376953125,
                        "y": 4253.70751953125,
                        "z": 360.6396789550781
                    },
                    "rotation": {
                        "roll": 0.001935195061378181,
                        "pitch": -0.3857417404651642,
                        "yaw": -170.8111572265625
                    }
                },
                "velocity": {
                    "x": -11.612738609313965,
                    "y": -1.8785563707351685,
                    "z": -0.08365350216627121
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.076408706372604e-05,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0016479482874274254,
                        "pitch": -0.4238336980342865,
                        "yaw": -170.9611358642578
                    }
                },
                "velocity": {
                    "x": -7.511302555940347e-06,
                    "y": 3.7322006392059848e-06,
                    "z": -5.006639185012318e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.821949005126953,
                "transform": {
                    "location": {
                        "x": 2897.306884765625,
                        "y": 4250.27197265625,
                        "z": 360.49566650390625
                    },
                    "rotation": {
                        "roll": 0.0001848097745096311,
                        "pitch": -0.20190037786960602,
                        "yaw": -170.78909301757812
                    }
                },
                "velocity": {
                    "x": -14.630485534667969,
                    "y": -2.372541666030884,
                    "z": -0.10067546367645264
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.051375389099121,
                "transform": {
                    "location": {
                        "x": 2859.565185546875,
                        "y": 4240.87255859375,
                        "z": 360.2591247558594
                    },
                    "rotation": {
                        "roll": 0.0005807920242659748,
                        "pitch": -0.46624234318733215,
                        "yaw": -170.79200744628906
                    }
                },
                "velocity": {
                    "x": -6.960521221160889,
                    "y": -1.1270337104797363,
                    "z": -0.05324207991361618
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.3525238037109375,
                "transform": {
                    "location": {
                        "x": 2859.213623046875,
                        "y": 4244.10791015625,
                        "z": 360.2155456542969
                    },
                    "rotation": {
                        "roll": 0.0002691953850444406,
                        "pitch": -0.49151405692100525,
                        "yaw": -170.81350708007812
                    }
                },
                "velocity": {
                    "x": -6.270615577697754,
                    "y": -1.0156543254852295,
                    "z": -0.04879077896475792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.916496992111206,
                "transform": {
                    "location": {
                        "x": 2844.115478515625,
                        "y": 4238.37255859375,
                        "z": 360.1058044433594
                    },
                    "rotation": {
                        "roll": 0.00018195634766016155,
                        "pitch": -0.6721178889274597,
                        "yaw": -170.81259155273438
                    }
                },
                "velocity": {
                    "x": -3.8661177158355713,
                    "y": -0.6252540946006775,
                    "z": -0.033756013959646225
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.209462642669678,
                "transform": {
                    "location": {
                        "x": 2843.608154296875,
                        "y": 4241.58251953125,
                        "z": 360.1044006347656
                    },
                    "rotation": {
                        "roll": -0.0010986246634274721,
                        "pitch": -0.4976748824119568,
                        "yaw": -170.82080078125
                    }
                },
                "velocity": {
                    "x": -5.142514705657959,
                    "y": -0.8314594626426697,
                    "z": -0.04144977033138275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08392661809921265,
        "expert_target_speed": 8.9511169488577,
        "target_point": [
            38.03168910787697,
            -0.8119308511040719
        ],
        "target_point_next": [
            38.03168910787697,
            -0.8119308511040719
        ]
    },
    "610": {
        "acceleration": [
            1.2074851989746094,
            0.5699920654296875,
            0.008033961057662964
        ],
        "angular_velocity": [
            -0.17282932996749878,
            -0.13137534260749817,
            -5.196539402008057
        ],
        "forward_vector": [
            -0.9865891337394714,
            -0.16297069191932678,
            -0.009076470509171486
        ],
        "right_vector": [
            0.16300764679908752,
            -0.9866185784339905,
            -0.0034876263234764338
        ],
        "location": [
            2884.285888671875,
            4244.87255859375,
            360.3979187011719
        ],
        "rotation": [
            0.1998348981142044,
            -0.520050585269928,
            -170.6202392578125
        ],
        "velocity": [
            -8.141849517822266,
            -1.3113195896148682,
            -0.05621375888586044
        ],
        "speed": 8.246773468270506,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 26.463960647583008,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2858.162353515625,
                4240.64404296875,
                360.2504577636719
            ],
            "velocity": [
                -3.460956573486328,
                -0.5587937831878662,
                -0.02866605669260025
            ],
            "speed_kmh": 12.621218348276898,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.145574569702148,
                "transform": {
                    "location": {
                        "x": 2855.353271484375,
                        "y": 4250.23974609375,
                        "z": 360.2053527832031
                    },
                    "rotation": {
                        "roll": 0.010041346773505211,
                        "pitch": 0.5358282923698425,
                        "yaw": 9.538724899291992
                    }
                },
                "velocity": {
                    "x": 8.033173561096191,
                    "y": 1.3470289707183838,
                    "z": 0.06341788917779922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.330464363098145,
                "transform": {
                    "location": {
                        "x": 2855.251708984375,
                        "y": 4246.9267578125,
                        "z": 360.1991271972656
                    },
                    "rotation": {
                        "roll": 0.009279769845306873,
                        "pitch": 0.6055167317390442,
                        "yaw": 9.547741889953613
                    }
                },
                "velocity": {
                    "x": 8.21539306640625,
                    "y": 1.3784371614456177,
                    "z": 0.06216352432966232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045671463012695,
                "transform": {
                    "location": {
                        "x": 2905.698486328125,
                        "y": 4255.123046875,
                        "z": 360.5563659667969
                    },
                    "rotation": {
                        "roll": 0.0007736713741905987,
                        "pitch": 0.40273526310920715,
                        "yaw": 9.18652057647705
                    }
                },
                "velocity": {
                    "x": 7.942121505737305,
                    "y": 1.285443902015686,
                    "z": 0.05636931210756302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035772323608398,
                "transform": {
                    "location": {
                        "x": 2905.129638671875,
                        "y": 4258.32373046875,
                        "z": 360.55767822265625
                    },
                    "rotation": {
                        "roll": 0.0004778382717631757,
                        "pitch": 0.404217392206192,
                        "yaw": 9.205514907836914
                    }
                },
                "velocity": {
                    "x": 7.931922435760498,
                    "y": 1.2864888906478882,
                    "z": 0.05639827623963356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00026338198222219944,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": -1.6147121641552076e-05,
                    "y": -2.4773225959506817e-05,
                    "z": 0.0002617166901472956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0447359085083,
                "transform": {
                    "location": {
                        "x": 2949.283447265625,
                        "y": 4262.17724609375,
                        "z": 360.87249755859375
                    },
                    "rotation": {
                        "roll": 0.0005866233841516078,
                        "pitch": 0.44338852167129517,
                        "yaw": 9.197699546813965
                    }
                },
                "velocity": {
                    "x": 7.941079139709473,
                    "y": 1.285849928855896,
                    "z": 0.06027201563119888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03518295288086,
                "transform": {
                    "location": {
                        "x": 2947.704345703125,
                        "y": 4265.2138671875,
                        "z": 360.8702392578125
                    },
                    "rotation": {
                        "roll": 0.000617910351138562,
                        "pitch": 0.44168782234191895,
                        "yaw": 9.190727233886719
                    }
                },
                "velocity": {
                    "x": 7.931625843048096,
                    "y": 1.2844293117523193,
                    "z": 0.06094847619533539
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.211606979370117,
                "transform": {
                    "location": {
                        "x": 2915.541259765625,
                        "y": 4253.22314453125,
                        "z": 360.6181640625
                    },
                    "rotation": {
                        "roll": -0.0008239775779657066,
                        "pitch": -0.39284512400627136,
                        "yaw": -170.811279296875
                    }
                },
                "velocity": {
                    "x": -12.054610252380371,
                    "y": -1.949915885925293,
                    "z": -0.08686334639787674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015046737098600715,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0016479482874274254,
                        "pitch": -0.4238336980342865,
                        "yaw": -170.9611358642578
                    }
                },
                "velocity": {
                    "x": -9.876564035948832e-06,
                    "y": 7.18821775080869e-06,
                    "z": 0.00014997069956734776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.699254989624023,
                "transform": {
                    "location": {
                        "x": 2893.53369140625,
                        "y": 4249.66015625,
                        "z": 360.4696350097656
                    },
                    "rotation": {
                        "roll": -0.00018310389714315534,
                        "pitch": -0.20236483216285706,
                        "yaw": -170.79542541503906
                    }
                },
                "velocity": {
                    "x": -15.496712684631348,
                    "y": -2.5114123821258545,
                    "z": -0.10629882663488388
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.5058939456939697,
                "transform": {
                    "location": {
                        "x": 2858.162353515625,
                        "y": 4240.64404296875,
                        "z": 360.2504577636719
                    },
                    "rotation": {
                        "roll": -0.00039673593710176647,
                        "pitch": -0.7207010388374329,
                        "yaw": -170.8677520751953
                    }
                },
                "velocity": {
                    "x": -3.460956573486328,
                    "y": -0.5587937831878662,
                    "z": -0.02866605669260025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7688254117965698,
                "transform": {
                    "location": {
                        "x": 2858.076171875,
                        "y": 4243.9140625,
                        "z": 360.2082214355469
                    },
                    "rotation": {
                        "roll": 0.0049405391328036785,
                        "pitch": -0.6867344975471497,
                        "yaw": -171.70016479492188
                    }
                },
                "velocity": {
                    "x": -1.740833044052124,
                    "y": -0.3131256103515625,
                    "z": -0.013986711390316486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.009530770592391491,
                "transform": {
                    "location": {
                        "x": 2843.8525390625,
                        "y": 4238.32958984375,
                        "z": 360.10357666015625
                    },
                    "rotation": {
                        "roll": 0.0011225626803934574,
                        "pitch": -1.1444391012191772,
                        "yaw": -170.81317138671875
                    }
                },
                "velocity": {
                    "x": 0.00935970526188612,
                    "y": 0.0013026500819250941,
                    "z": 0.0012387906899675727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0030711963772773743,
                "transform": {
                    "location": {
                        "x": 2843.105224609375,
                        "y": 4241.5009765625,
                        "z": 360.0994567871094
                    },
                    "rotation": {
                        "roll": -0.0028686521109193563,
                        "pitch": -1.0837665796279907,
                        "yaw": -170.78392028808594
                    }
                },
                "velocity": {
                    "x": 0.0029727809596806765,
                    "y": 0.0003972589911427349,
                    "z": 0.0006610640557482839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06960739940404892,
        "expert_target_speed": 8.65017972806547,
        "target_point": [
            35.93911006645346,
            -0.2180920529629331
        ],
        "target_point_next": [
            35.93911006645346,
            -0.2180920529629331
        ]
    },
    "615": {
        "acceleration": [
            0.9574699401855469,
            0.16065120697021484,
            0.008096545934677124
        ],
        "angular_velocity": [
            -0.358969509601593,
            -0.0021196031011641026,
            2.3996407985687256
        ],
        "forward_vector": [
            -0.9875550866127014,
            -0.157008096575737,
            -0.009136073291301727
        ],
        "right_vector": [
            0.15703052282333374,
            -0.9875921010971069,
            -0.001786078093573451
        ],
        "location": [
            2882.2880859375,
            4244.5537109375,
            360.38421630859375
        ],
        "rotation": [
            0.10233905911445618,
            -0.5234656929969788,
            -170.96633911132812
        ],
        "velocity": [
            -7.868740081787109,
            -1.245023488998413,
            -0.05542518198490143
        ],
        "speed": 7.96662751500789,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 24.719228744506836,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2857.887451171875,
                4240.60009765625,
                360.2490539550781
            ],
            "velocity": [
                -0.40027469396591187,
                -0.06481938809156418,
                -0.002249164506793022
            ],
            "speed_kmh": 1.4597830982929965,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.820258140563965,
                "transform": {
                    "location": {
                        "x": 2857.29931640625,
                        "y": 4250.564453125,
                        "z": 360.22015380859375
                    },
                    "rotation": {
                        "roll": 0.014107509516179562,
                        "pitch": 0.4023527503013611,
                        "yaw": 9.45041275024414
                    }
                },
                "velocity": {
                    "x": 7.71494197845459,
                    "y": 1.2777434587478638,
                    "z": 0.05898575484752655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.988310813903809,
                "transform": {
                    "location": {
                        "x": 2857.272216796875,
                        "y": 4247.26513671875,
                        "z": 360.2143249511719
                    },
                    "rotation": {
                        "roll": 0.00814866740256548,
                        "pitch": 0.43735748529434204,
                        "yaw": 9.46765422821045
                    }
                },
                "velocity": {
                    "x": 7.879992961883545,
                    "y": 1.3096446990966797,
                    "z": 0.06042217090725899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046202659606934,
                "transform": {
                    "location": {
                        "x": 2907.68359375,
                        "y": 4255.44384765625,
                        "z": 360.57037353515625
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.4030221104621887,
                        "yaw": 9.194066047668457
                    }
                },
                "velocity": {
                    "x": 7.942501068115234,
                    "y": 1.2864141464233398,
                    "z": 0.05647467449307442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038020133972168,
                "transform": {
                    "location": {
                        "x": 2907.11279296875,
                        "y": 4258.6455078125,
                        "z": 360.5716857910156
                    },
                    "rotation": {
                        "roll": 0.0013344244798645377,
                        "pitch": 0.4032270312309265,
                        "yaw": 9.205693244934082
                    }
                },
                "velocity": {
                    "x": 7.934434413909912,
                    "y": 1.2850632667541504,
                    "z": 0.05601833388209343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.287353515625,
                        "y": 4262.49267578125,
                        "z": 360.8887023925781
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035889625549316,
                "transform": {
                    "location": {
                        "x": 2949.6875,
                        "y": 4265.5341796875,
                        "z": 360.8855895996094
                    },
                    "rotation": {
                        "roll": -0.00018310334417037666,
                        "pitch": 0.44762325286865234,
                        "yaw": 9.215332984924316
                    }
                },
                "velocity": {
                    "x": 7.932101726531982,
                    "y": 1.2859117984771729,
                    "z": 0.060942668467760086
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.115468978881836,
                "transform": {
                    "location": {
                        "x": 2912.392822265625,
                        "y": 4252.7138671875,
                        "z": 360.5956115722656
                    },
                    "rotation": {
                        "roll": -9.155261795967817e-05,
                        "pitch": -0.386076420545578,
                        "yaw": -170.80909729003906
                    }
                },
                "velocity": {
                    "x": -12.947019577026367,
                    "y": -2.093238115310669,
                    "z": -0.0924917608499527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0016479482874274254,
                        "pitch": -0.4238336980342865,
                        "yaw": -170.9611358642578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 15.663074493408203,
                "transform": {
                    "location": {
                        "x": 2889.626220703125,
                        "y": 4249.02734375,
                        "z": 360.4427795410156
                    },
                    "rotation": {
                        "roll": 0.0015558989252895117,
                        "pitch": -0.34530702233314514,
                        "yaw": -170.81016540527344
                    }
                },
                "velocity": {
                    "x": -15.46179485321045,
                    "y": -2.5006937980651855,
                    "z": -0.10655425488948822
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.405495285987854,
                "transform": {
                    "location": {
                        "x": 2857.887451171875,
                        "y": 4240.60009765625,
                        "z": 360.2490539550781
                    },
                    "rotation": {
                        "roll": 0.0005301526980474591,
                        "pitch": -0.807888388633728,
                        "yaw": -170.86685180664062
                    }
                },
                "velocity": {
                    "x": -0.40027469396591187,
                    "y": -0.06481938809156418,
                    "z": -0.002249164506793022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.135988712310791,
                "transform": {
                    "location": {
                        "x": 2857.681884765625,
                        "y": 4243.85009765625,
                        "z": 360.2038879394531
                    },
                    "rotation": {
                        "roll": 0.006860608700662851,
                        "pitch": -0.5026540756225586,
                        "yaw": -171.64186096191406
                    }
                },
                "velocity": {
                    "x": -2.1102867126464844,
                    "y": -0.3299327790737152,
                    "z": -0.016808100044727325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003916122019290924,
                "transform": {
                    "location": {
                        "x": 2843.848876953125,
                        "y": 4238.3291015625,
                        "z": 360.1037292480469
                    },
                    "rotation": {
                        "roll": 0.0026689544320106506,
                        "pitch": -0.6172509789466858,
                        "yaw": -170.81332397460938
                    }
                },
                "velocity": {
                    "x": 0.0034785994794219732,
                    "y": 0.00022342904412653297,
                    "z": 0.0017847788985818624
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0026257436256855726,
                "transform": {
                    "location": {
                        "x": 2843.1025390625,
                        "y": 4241.50048828125,
                        "z": 360.10009765625
                    },
                    "rotation": {
                        "roll": -0.0012512184912338853,
                        "pitch": -0.6200172305107117,
                        "yaw": -170.78414916992188
                    }
                },
                "velocity": {
                    "x": 0.002218404319137335,
                    "y": 0.00013616052456200123,
                    "z": 0.0013980960939079523
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0698440670967102,
        "expert_target_speed": 8.355290233485475,
        "target_point": [
            33.916685490764486,
            -0.00218866742502577
        ],
        "target_point_next": [
            33.916685490764486,
            -0.00218866742502577
        ]
    },
    "620": {
        "acceleration": [
            0.9437847137451172,
            -0.10474920272827148,
            -0.015155598521232605
        ],
        "angular_velocity": [
            -0.37110620737075806,
            -0.04117369279265404,
            -1.121216058731079
        ],
        "forward_vector": [
            -0.98707515001297,
            -0.16000966727733612,
            -0.008925199508666992
        ],
        "right_vector": [
            0.16001419723033905,
            -0.9871147274971008,
            0.00021038134582340717
        ],
        "location": [
            2880.351806640625,
            4244.240234375,
            360.37066650390625
        ],
        "rotation": [
            -0.012054443359375,
            -0.511383056640625,
            -170.79217529296875
        ],
        "velocity": [
            -7.628194332122803,
            -1.26590096950531,
            -0.05294821038842201
        ],
        "speed": 7.7325192552767,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 23.03691291809082,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2857.61181640625,
                4240.5556640625,
                360.2437744140625
            ],
            "velocity": [
                -1.539399266242981,
                -0.24936723709106445,
                -0.011045598424971104
            ],
            "speed_kmh": 5.6142183232526675,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.184178352355957,
                "transform": {
                    "location": {
                        "x": 2859.279541015625,
                        "y": 4250.89111328125,
                        "z": 360.2351989746094
                    },
                    "rotation": {
                        "roll": 0.009594397619366646,
                        "pitch": 0.47278568148612976,
                        "yaw": 9.376983642578125
                    }
                },
                "velocity": {
                    "x": 8.075395584106445,
                    "y": 1.3285655975341797,
                    "z": 0.06063808128237724
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.980539321899414,
                "transform": {
                    "location": {
                        "x": 2859.225341796875,
                        "y": 4247.587890625,
                        "z": 360.2291259765625
                    },
                    "rotation": {
                        "roll": 0.007513404358178377,
                        "pitch": 0.4247148036956787,
                        "yaw": 9.393131256103516
                    }
                },
                "velocity": {
                    "x": 7.874019622802734,
                    "y": 1.298116683959961,
                    "z": 0.06093008071184158
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046159744262695,
                "transform": {
                    "location": {
                        "x": 2909.669677734375,
                        "y": 4255.765625,
                        "z": 360.58447265625
                    },
                    "rotation": {
                        "roll": 0.00032706689671613276,
                        "pitch": 0.40621864795684814,
                        "yaw": 9.193597793579102
                    }
                },
                "velocity": {
                    "x": 7.942546367645264,
                    "y": 1.2858434915542603,
                    "z": 0.05700917914509773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035965919494629,
                "transform": {
                    "location": {
                        "x": 2909.09619140625,
                        "y": 4258.9677734375,
                        "z": 360.5857849121094
                    },
                    "rotation": {
                        "roll": -0.00054931704653427,
                        "pitch": 0.4065806567668915,
                        "yaw": 9.204086303710938
                    }
                },
                "velocity": {
                    "x": 7.9323344230651855,
                    "y": 1.285165548324585,
                    "z": 0.056279800832271576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2953.349853515625,
                        "y": 4262.78076171875,
                        "z": 360.90740966796875
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.748779296875,
                        "y": 4265.83349609375,
                        "z": 360.9017028808594
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.668791770935059,
                "transform": {
                    "location": {
                        "x": 2909.083251953125,
                        "y": 4252.17822265625,
                        "z": 360.5721130371094
                    },
                    "rotation": {
                        "roll": 0.00133660645224154,
                        "pitch": -0.3873058557510376,
                        "yaw": -170.81324768066406
                    }
                },
                "velocity": {
                    "x": -13.493109703063965,
                    "y": -2.1823570728302,
                    "z": -0.09582662582397461
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003519114980008453,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0010986365377902985,
                        "pitch": -0.42367660999298096,
                        "yaw": -170.96124267578125
                    }
                },
                "velocity": {
                    "x": -2.386309097346384e-05,
                    "y": 1.3236422091722488e-05,
                    "z": 0.00035085188574157655
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 14.239090919494629,
                "transform": {
                    "location": {
                        "x": 2885.941162109375,
                        "y": 4248.431640625,
                        "z": 360.4173278808594
                    },
                    "rotation": {
                        "roll": 0.002339152153581381,
                        "pitch": -0.6022860407829285,
                        "yaw": -170.81729125976562
                    }
                },
                "velocity": {
                    "x": -14.056198120117188,
                    "y": -2.27278995513916,
                    "z": -0.09709478169679642
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5595051050186157,
                "transform": {
                    "location": {
                        "x": 2857.61181640625,
                        "y": 4240.5556640625,
                        "z": 360.2437744140625
                    },
                    "rotation": {
                        "roll": -0.0012512271059677005,
                        "pitch": -0.429810106754303,
                        "yaw": -170.82789611816406
                    }
                },
                "velocity": {
                    "x": -1.539399266242981,
                    "y": -0.24936723709106445,
                    "z": -0.011045598424971104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.004647708497941494,
                "transform": {
                    "location": {
                        "x": 2857.229248046875,
                        "y": 4243.7822265625,
                        "z": 360.20068359375
                    },
                    "rotation": {
                        "roll": 0.005341897252947092,
                        "pitch": -0.5646039247512817,
                        "yaw": -171.15634155273438
                    }
                },
                "velocity": {
                    "x": -0.0023288677912205458,
                    "y": 0.0014455807395279408,
                    "z": -0.0037533806171268225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017235862324014306,
                "transform": {
                    "location": {
                        "x": 2843.848388671875,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.000914763892069459,
                        "pitch": -0.4806813597679138,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0007077991613186896,
                    "y": 9.820250852499157e-05,
                    "z": 0.001568478997796774
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001406593364663422,
                "transform": {
                    "location": {
                        "x": 2843.1015625,
                        "y": 4241.5,
                        "z": 360.1003112792969
                    },
                    "rotation": {
                        "roll": -0.0015563976485282183,
                        "pitch": -0.4821157157421112,
                        "yaw": -170.78414916992188
                    }
                },
                "velocity": {
                    "x": 0.0005230421666055918,
                    "y": -0.00010961650696117431,
                    "z": 0.0013011210830882192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0837738886475563,
        "expert_target_speed": 8.168975635537997,
        "target_point": [
            31.955031649910172,
            -0.10489190437714235
        ],
        "target_point_next": [
            31.955031649910172,
            -0.10489190437714235
        ]
    },
    "625": {
        "acceleration": [
            1.1046504974365234,
            0.387570858001709,
            -0.00918269157409668
        ],
        "angular_velocity": [
            0.2474065124988556,
            -0.021878782659769058,
            1.7717543840408325
        ],
        "forward_vector": [
            -0.9868442416191101,
            -0.16142788529396057,
            -0.008915663696825504
        ],
        "right_vector": [
            0.1614386886358261,
            -0.9868826270103455,
            -0.0004997659707441926
        ],
        "location": [
            2878.473876953125,
            4243.93310546875,
            360.3576965332031
        ],
        "rotation": [
            0.028635619208216667,
            -0.510836660861969,
            -170.7098388671875
        ],
        "velocity": [
            -7.3917694091796875,
            -1.1851840019226074,
            -0.052644483745098114
        ],
        "speed": 7.4861816780584425,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 21.630102157592773,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2857.1220703125,
                4240.4765625,
                360.2395324707031
            ],
            "velocity": [
                -2.2470004558563232,
                -0.3625917434692383,
                -0.017536306753754616
            ],
            "speed_kmh": 8.194086636510669,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.000680923461914,
                "transform": {
                    "location": {
                        "x": 2861.28076171875,
                        "y": 4251.2197265625,
                        "z": 360.24993896484375
                    },
                    "rotation": {
                        "roll": 0.005635700188577175,
                        "pitch": 0.4099137783050537,
                        "yaw": 9.316231727600098
                    }
                },
                "velocity": {
                    "x": 7.8948798179626465,
                    "y": 1.2954511642456055,
                    "z": 0.05976469814777374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.123335838317871,
                "transform": {
                    "location": {
                        "x": 2861.221435546875,
                        "y": 4247.916015625,
                        "z": 360.2440490722656
                    },
                    "rotation": {
                        "roll": 0.0050179059617221355,
                        "pitch": 0.44056084752082825,
                        "yaw": 9.31515121459961
                    }
                },
                "velocity": {
                    "x": 8.015892028808594,
                    "y": 1.3154739141464233,
                    "z": 0.05991503596305847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04635238647461,
                "transform": {
                    "location": {
                        "x": 2911.6552734375,
                        "y": 4256.087890625,
                        "z": 360.5986328125
                    },
                    "rotation": {
                        "roll": -0.0003051750536542386,
                        "pitch": 0.4068470299243927,
                        "yaw": 9.197216987609863
                    }
                },
                "velocity": {
                    "x": 7.942755699157715,
                    "y": 1.2857460975646973,
                    "z": 0.057287413626909256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038002967834473,
                "transform": {
                    "location": {
                        "x": 2911.07958984375,
                        "y": 4259.2890625,
                        "z": 360.5998229980469
                    },
                    "rotation": {
                        "roll": 0.0003261297824792564,
                        "pitch": 0.40846577286720276,
                        "yaw": 9.200510025024414
                    }
                },
                "velocity": {
                    "x": 7.934388160705566,
                    "y": 1.2852169275283813,
                    "z": 0.0564897246658802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3847,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2955.412353515625,
                        "y": 4263.06982421875,
                        "z": 360.92608642578125
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3848,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2953.811279296875,
                        "y": 4266.12548828125,
                        "z": 360.9177551269531
                    },
                    "rotation": {
                        "roll": -3.335158371697844e-09,
                        "pitch": 0.45539599657058716,
                        "yaw": 9.191607475280762
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.594493865966797,
                "transform": {
                    "location": {
                        "x": 2905.688720703125,
                        "y": 4251.62939453125,
                        "z": 360.5482482910156
                    },
                    "rotation": {
                        "roll": 0.000692650442942977,
                        "pitch": -0.39718231558799744,
                        "yaw": -170.80984497070312
                    }
                },
                "velocity": {
                    "x": -13.419670104980469,
                    "y": -2.171107530593872,
                    "z": -0.09499764442443848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005957913235761225,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0007019077893346548,
                        "pitch": -0.42358097434043884,
                        "yaw": -170.96124267578125
                    }
                },
                "velocity": {
                    "x": -2.6284827981726266e-05,
                    "y": 1.3407506003204617e-06,
                    "z": 0.0005952097126282752
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.73160457611084,
                "transform": {
                    "location": {
                        "x": 2882.600341796875,
                        "y": 4247.8916015625,
                        "z": 360.3943786621094
                    },
                    "rotation": {
                        "roll": 0.0031002340838313103,
                        "pitch": -0.6857304573059082,
                        "yaw": -170.82798767089844
                    }
                },
                "velocity": {
                    "x": -12.568474769592285,
                    "y": -2.0296738147735596,
                    "z": -0.08730463683605194
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.276135206222534,
                "transform": {
                    "location": {
                        "x": 2857.1220703125,
                        "y": 4240.4765625,
                        "z": 360.2395324707031
                    },
                    "rotation": {
                        "roll": -0.0005493144853971899,
                        "pitch": -0.3659956753253937,
                        "yaw": -170.83816528320312
                    }
                },
                "velocity": {
                    "x": -2.2470004558563232,
                    "y": -0.3625917434692383,
                    "z": -0.017536306753754616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7202706336975098,
                "transform": {
                    "location": {
                        "x": 2856.91796875,
                        "y": 4243.732421875,
                        "z": 360.1974792480469
                    },
                    "rotation": {
                        "roll": 0.001552051748149097,
                        "pitch": -0.41811683773994446,
                        "yaw": -171.10939025878906
                    }
                },
                "velocity": {
                    "x": -1.6981427669525146,
                    "y": -0.2747062146663666,
                    "z": -0.013364533893764019
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013207150623202324,
                "transform": {
                    "location": {
                        "x": 2843.1015625,
                        "y": 4241.5,
                        "z": 360.100341796875
                    },
                    "rotation": {
                        "roll": -0.0017394984606653452,
                        "pitch": -0.45491790771484375,
                        "yaw": -170.78416442871094
                    }
                },
                "velocity": {
                    "x": 0.00016290563507936895,
                    "y": -3.8792582927271724e-05,
                    "z": 0.0013100553769618273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09251528978347778,
        "expert_target_speed": 7.964219048290126,
        "target_point": [
            30.051969008351577,
            -0.15075555330963297
        ],
        "target_point_next": [
            30.051969008351577,
            -0.15075555330963297
        ]
    },
    "630": {
        "acceleration": [
            1.9500446319580078,
            0.4779839515686035,
            0.026621222496032715
        ],
        "angular_velocity": [
            0.06337227672338486,
            -0.24198195338249207,
            -4.3872599601745605
        ],
        "forward_vector": [
            -0.9878308773040771,
            -0.15522357821464539,
            -0.00979062169790268
        ],
        "right_vector": [
            0.155239999294281,
            -0.9878763556480408,
            -0.000935256714001298
        ],
        "location": [
            2876.678466796875,
            4243.64990234375,
            360.3453369140625
        ],
        "rotation": [
            0.05358883738517761,
            -0.5609702467918396,
            -171.06980895996094
        ],
        "velocity": [
            -6.9622039794921875,
            -1.0730724334716797,
            -0.048256367444992065
        ],
        "speed": 7.044414006823682,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 20.102251052856445,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2856.836181640625,
                4240.42919921875,
                360.2392883300781
            ],
            "velocity": [
                -0.3757651150226593,
                -0.05968546122312546,
                -0.002899226965382695
            ],
            "speed_kmh": 1.3697523687895659,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.999959945678711,
                "transform": {
                    "location": {
                        "x": 2863.245849609375,
                        "y": 4251.541015625,
                        "z": 360.26458740234375
                    },
                    "rotation": {
                        "roll": 0.005014864727854729,
                        "pitch": 0.42114943265914917,
                        "yaw": 9.290821075439453
                    }
                },
                "velocity": {
                    "x": 7.895253658294678,
                    "y": 1.288702368736267,
                    "z": 0.05978377163410187
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002588272094727,
                "transform": {
                    "location": {
                        "x": 2863.208251953125,
                        "y": 4248.24169921875,
                        "z": 360.2587890625
                    },
                    "rotation": {
                        "roll": 0.005266777239739895,
                        "pitch": 0.4148041903972626,
                        "yaw": 9.305797576904297
                    }
                },
                "velocity": {
                    "x": 7.897714614868164,
                    "y": 1.2899513244628906,
                    "z": 0.05954090878367424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045504570007324,
                "transform": {
                    "location": {
                        "x": 2913.640869140625,
                        "y": 4256.41064453125,
                        "z": 360.61279296875
                    },
                    "rotation": {
                        "roll": 4.8065998271340504e-05,
                        "pitch": 0.4067718982696533,
                        "yaw": 9.194171905517578
                    }
                },
                "velocity": {
                    "x": 7.941899299621582,
                    "y": 1.2857494354248047,
                    "z": 0.05685915797948837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035820960998535,
                "transform": {
                    "location": {
                        "x": 2913.06298828125,
                        "y": 4259.60986328125,
                        "z": 360.614013671875
                    },
                    "rotation": {
                        "roll": -0.0003356949891895056,
                        "pitch": 0.40860238671302795,
                        "yaw": 9.197562217712402
                    }
                },
                "velocity": {
                    "x": 7.932305812835693,
                    "y": 1.2843807935714722,
                    "z": 0.05755864083766937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.119461059570312,
                "transform": {
                    "location": {
                        "x": 2902.50390625,
                        "y": 4251.11376953125,
                        "z": 360.526123046875
                    },
                    "rotation": {
                        "roll": 3.149043186567724e-05,
                        "pitch": -0.42330095171928406,
                        "yaw": -170.80596923828125
                    }
                },
                "velocity": {
                    "x": -11.963482856750488,
                    "y": -1.9363486766815186,
                    "z": -0.08352334052324295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001604935241630301,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.00030517904087901115,
                        "pitch": -0.42367660999298096,
                        "yaw": -170.9612579345703
                    }
                },
                "velocity": {
                    "x": -2.022348235186655e-05,
                    "y": -1.2994054486625828e-05,
                    "z": 0.0001586831349413842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.13115406036377,
                "transform": {
                    "location": {
                        "x": 2879.68359375,
                        "y": 4247.42041015625,
                        "z": 360.3741760253906
                    },
                    "rotation": {
                        "roll": 0.0005528166075237095,
                        "pitch": -0.7302222847938538,
                        "yaw": -170.81900024414062
                    }
                },
                "velocity": {
                    "x": -10.988317489624023,
                    "y": -1.7758598327636719,
                    "z": -0.07608910650014877
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.38048678636550903,
                "transform": {
                    "location": {
                        "x": 2856.836181640625,
                        "y": 4240.42919921875,
                        "z": 360.2392883300781
                    },
                    "rotation": {
                        "roll": 0.0017830132273957133,
                        "pitch": -0.5977439880371094,
                        "yaw": -170.95492553710938
                    }
                },
                "velocity": {
                    "x": -0.3757651150226593,
                    "y": -0.05968546122312546,
                    "z": -0.002899226965382695
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9124972820281982,
                "transform": {
                    "location": {
                        "x": 2856.534423828125,
                        "y": 4243.6728515625,
                        "z": 360.1944885253906
                    },
                    "rotation": {
                        "roll": 0.00016627339937258512,
                        "pitch": -0.4135679304599762,
                        "yaw": -170.85336303710938
                    }
                },
                "velocity": {
                    "x": -1.8877109289169312,
                    "y": -0.30661478638648987,
                    "z": -0.013436374254524708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.472207779646851e-05,
                "transform": {
                    "location": {
                        "x": 2843.1015625,
                        "y": 4241.5,
                        "z": 360.100341796875
                    },
                    "rotation": {
                        "roll": -0.0020141631830483675,
                        "pitch": -0.4466192126274109,
                        "yaw": -170.78416442871094
                    }
                },
                "velocity": {
                    "x": -8.331015123985708e-06,
                    "y": 1.21812331599358e-06,
                    "z": 2.324417255294975e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07119753211736679,
        "expert_target_speed": 7.520445417772245,
        "target_point": [
            28.234714603063615,
            0.036975866638297994
        ],
        "target_point_next": [
            28.234714603063615,
            0.036975866638297994
        ]
    },
    "635": {
        "acceleration": [
            1.5349006652832031,
            0.10703444480895996,
            0.014072582125663757
        ],
        "angular_velocity": [
            -0.28024280071258545,
            -0.028983399271965027,
            2.5962576866149902
        ],
        "forward_vector": [
            -0.9885327219963074,
            -0.15065927803516388,
            -0.01023703720420599
        ],
        "right_vector": [
            0.15067490935325623,
            -0.9885830283164978,
            -0.0007682337309233844
        ],
        "location": [
            2874.995849609375,
            4243.3935546875,
            360.3336181640625
        ],
        "rotation": [
            0.044018860906362534,
            -0.5865492820739746,
            -171.33441162109375
        ],
        "velocity": [
            -6.536746501922607,
            -0.986388087272644,
            -0.04539195075631142
        ],
        "speed": 6.610750054956762,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 18.655715942382812,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2856.583984375,
                4240.388671875,
                360.2356262207031
            ],
            "velocity": [
                -1.3926576375961304,
                -0.22512081265449524,
                -0.009978065267205238
            ],
            "speed_kmh": 5.078774864049858,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.086343765258789,
                "transform": {
                    "location": {
                        "x": 2865.236083984375,
                        "y": 4251.86572265625,
                        "z": 360.27923583984375
                    },
                    "rotation": {
                        "roll": 0.0031219308730214834,
                        "pitch": 0.4296939969062805,
                        "yaw": 9.241495132446289
                    }
                },
                "velocity": {
                    "x": 7.981074810028076,
                    "y": 1.299225091934204,
                    "z": 0.05846931412816048
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053200721740723,
                "transform": {
                    "location": {
                        "x": 2865.18701171875,
                        "y": 4248.564453125,
                        "z": 360.2734680175781
                    },
                    "rotation": {
                        "roll": 0.0019433015258982778,
                        "pitch": 0.4222012758255005,
                        "yaw": 9.24571704864502
                    }
                },
                "velocity": {
                    "x": 7.948280334472656,
                    "y": 1.2944566011428833,
                    "z": 0.05712364986538887
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046063423156738,
                "transform": {
                    "location": {
                        "x": 2915.62646484375,
                        "y": 4256.73193359375,
                        "z": 360.62701416015625
                    },
                    "rotation": {
                        "roll": 0.0013792000245302916,
                        "pitch": 0.41108858585357666,
                        "yaw": 9.190478324890137
                    }
                },
                "velocity": {
                    "x": 7.9426140785217285,
                    "y": 1.2848604917526245,
                    "z": 0.05612094700336456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038125038146973,
                "transform": {
                    "location": {
                        "x": 2915.046142578125,
                        "y": 4259.93017578125,
                        "z": 360.6282653808594
                    },
                    "rotation": {
                        "roll": 0.0008180494769476354,
                        "pitch": 0.4108426868915558,
                        "yaw": 9.189346313476562
                    }
                },
                "velocity": {
                    "x": 7.934778213500977,
                    "y": 1.283552646636963,
                    "z": 0.05684532970190048
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.626198768615723,
                "transform": {
                    "location": {
                        "x": 2899.70703125,
                        "y": 4250.6611328125,
                        "z": 360.5066223144531
                    },
                    "rotation": {
                        "roll": 0.0004538133507594466,
                        "pitch": -0.42855337262153625,
                        "yaw": -170.8007354736328
                    }
                },
                "velocity": {
                    "x": -10.489296913146973,
                    "y": -1.6986650228500366,
                    "z": -0.0726880133152008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005035441135987639,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.001953127095475793,
                        "pitch": -0.42377224564552307,
                        "yaw": -170.96128845214844
                    }
                },
                "velocity": {
                    "x": -1.048430749506224e-05,
                    "y": -7.643047865713015e-06,
                    "z": 0.0005033769411966205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.958617210388184,
                "transform": {
                    "location": {
                        "x": 2877.185791015625,
                        "y": 4247.0166015625,
                        "z": 360.35675048828125
                    },
                    "rotation": {
                        "roll": 0.0006275359191931784,
                        "pitch": -0.8290687799453735,
                        "yaw": -170.81283569335938
                    }
                },
                "velocity": {
                    "x": -8.843510627746582,
                    "y": -1.43013334274292,
                    "z": -0.06221641227602959
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4107707738876343,
                "transform": {
                    "location": {
                        "x": 2856.583984375,
                        "y": 4240.388671875,
                        "z": 360.2356262207031
                    },
                    "rotation": {
                        "roll": 0.0010337646817788482,
                        "pitch": -0.3980087637901306,
                        "yaw": -170.9488067626953
                    }
                },
                "velocity": {
                    "x": -1.3926576375961304,
                    "y": -0.22512081265449524,
                    "z": -0.009978065267205238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6935082077980042,
                "transform": {
                    "location": {
                        "x": 2856.182373046875,
                        "y": 4243.6162109375,
                        "z": 360.1922607421875
                    },
                    "rotation": {
                        "roll": 0.0008487763116136193,
                        "pitch": -0.5221542716026306,
                        "yaw": -170.8862762451172
                    }
                },
                "velocity": {
                    "x": -0.6855148673057556,
                    "y": -0.10476573556661606,
                    "z": -0.006865014787763357
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003951432299800217,
                "transform": {
                    "location": {
                        "x": 2843.1015625,
                        "y": 4241.5,
                        "z": 360.100341796875
                    },
                    "rotation": {
                        "roll": -0.0005187998176552355,
                        "pitch": -0.4445769786834717,
                        "yaw": -170.7841796875
                    }
                },
                "velocity": {
                    "x": -3.423064845264889e-05,
                    "y": 4.4869408156955615e-05,
                    "z": 0.00039109226781874895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.046892061829566956,
        "expert_target_speed": 7.152539503621594,
        "target_point": [
            26.532210152323938,
            0.1674743375679082
        ],
        "target_point_next": [
            26.532210152323938,
            0.1674743375679082
        ]
    },
    "640": {
        "acceleration": [
            1.1469364166259766,
            0.15435576438903809,
            -0.015576779842376709
        ],
        "angular_velocity": [
            -0.0481591559946537,
            0.07633648812770844,
            -2.873821496963501
        ],
        "forward_vector": [
            -0.9884494543075562,
            -0.15122537314891815,
            -0.009928539395332336
        ],
        "right_vector": [
            0.15123328566551208,
            -0.9884980916976929,
            -4.7153615014394745e-05
        ],
        "location": [
            2873.404296875,
            4243.1494140625,
            360.3223876953125
        ],
        "rotation": [
            0.0027018364053219557,
            -0.5688727498054504,
            -171.30162048339844
        ],
        "velocity": [
            -6.221056938171387,
            -0.9595383405685425,
            -0.04501830041408539
        ],
        "speed": 6.294621772195005,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 17.514724731445312,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2856.120849609375,
                4240.31396484375,
                360.2316589355469
            ],
            "velocity": [
                -2.300175666809082,
                -0.3717971444129944,
                -0.018087400123476982
            ],
            "speed_kmh": 8.388361822184036,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.004137992858887,
                "transform": {
                    "location": {
                        "x": 2867.219970703125,
                        "y": 4252.1884765625,
                        "z": 360.293701171875
                    },
                    "rotation": {
                        "roll": 0.001185183646157384,
                        "pitch": 0.4019087851047516,
                        "yaw": 9.2554931640625
                    }
                },
                "velocity": {
                    "x": 7.900053024291992,
                    "y": 1.285358190536499,
                    "z": 0.056910570710897446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05508041381836,
                "transform": {
                    "location": {
                        "x": 2867.177001953125,
                        "y": 4248.88818359375,
                        "z": 360.2879638671875
                    },
                    "rotation": {
                        "roll": 0.0024613593704998493,
                        "pitch": 0.41198334097862244,
                        "yaw": 9.262380599975586
                    }
                },
                "velocity": {
                    "x": 7.950253963470459,
                    "y": 1.2940289974212646,
                    "z": 0.05712193250656128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045809745788574,
                "transform": {
                    "location": {
                        "x": 2917.61181640625,
                        "y": 4257.05224609375,
                        "z": 360.641357421875
                    },
                    "rotation": {
                        "roll": 0.00020054858759976923,
                        "pitch": 0.4114915430545807,
                        "yaw": 9.186992645263672
                    }
                },
                "velocity": {
                    "x": 7.942372798919678,
                    "y": 1.284740686416626,
                    "z": 0.05668313801288605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035938262939453,
                "transform": {
                    "location": {
                        "x": 2917.029541015625,
                        "y": 4260.25048828125,
                        "z": 360.6424865722656
                    },
                    "rotation": {
                        "roll": 0.000459061935544014,
                        "pitch": 0.41218823194503784,
                        "yaw": 9.189081192016602
                    }
                },
                "velocity": {
                    "x": 7.932615756988525,
                    "y": 1.2832441329956055,
                    "z": 0.0566212460398674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.307528495788574,
                "transform": {
                    "location": {
                        "x": 2897.255615234375,
                        "y": 4250.26416015625,
                        "z": 360.4896545410156
                    },
                    "rotation": {
                        "roll": 0.0003739696985576302,
                        "pitch": -0.4229116439819336,
                        "yaw": -170.80389404296875
                    }
                },
                "velocity": {
                    "x": -9.187685012817383,
                    "y": -1.4874259233474731,
                    "z": -0.06393603980541229
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009212382137775421,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.0013427791418507695,
                        "pitch": -0.4237380921840668,
                        "yaw": -170.9613800048828
                    }
                },
                "velocity": {
                    "x": -3.101885158685036e-05,
                    "y": -2.6443934984854423e-05,
                    "z": 0.0009203359950333834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.523287773132324,
                "transform": {
                    "location": {
                        "x": 2875.182861328125,
                        "y": 4246.69287109375,
                        "z": 360.3428039550781
                    },
                    "rotation": {
                        "roll": -0.0005493151838891208,
                        "pitch": -0.7357820868492126,
                        "yaw": -170.81089782714844
                    }
                },
                "velocity": {
                    "x": -7.426425457000732,
                    "y": -1.20225989818573,
                    "z": -0.05139528214931488
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3301005363464355,
                "transform": {
                    "location": {
                        "x": 2856.120849609375,
                        "y": 4240.31396484375,
                        "z": 360.2316589355469
                    },
                    "rotation": {
                        "roll": -0.0007934605237096548,
                        "pitch": -0.3489679992198944,
                        "yaw": -170.92172241210938
                    }
                },
                "velocity": {
                    "x": -2.300175666809082,
                    "y": -0.3717971444129944,
                    "z": -0.018087400123476982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8223356008529663,
                "transform": {
                    "location": {
                        "x": 2855.834716796875,
                        "y": 4243.56005859375,
                        "z": 360.1890563964844
                    },
                    "rotation": {
                        "roll": -0.0011901800753548741,
                        "pitch": -0.40423789620399475,
                        "yaw": -170.8905487060547
                    }
                },
                "velocity": {
                    "x": -1.7976438999176025,
                    "y": -0.29864174127578735,
                    "z": -0.014026927761733532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005636634305119514,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.100341796875
                    },
                    "rotation": {
                        "roll": -3.3351528205827208e-09,
                        "pitch": -0.443176805973053,
                        "yaw": -170.78428649902344
                    }
                },
                "velocity": {
                    "x": -1.5827788956812583e-05,
                    "y": 4.557855390885379e-06,
                    "z": 0.0005634227418340743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.041304104030132294,
        "expert_target_speed": 6.8752556577778074,
        "target_point": [
            24.92213259633312,
            0.15165431082919723
        ],
        "target_point_next": [
            24.92213259633312,
            0.15165431082919723
        ]
    },
    "645": {
        "acceleration": [
            0.9961509704589844,
            0.134657621383667,
            -0.005087926983833313
        ],
        "angular_velocity": [
            0.03157097473740578,
            0.07087424397468567,
            3.583890676498413
        ],
        "forward_vector": [
            -0.9881504774093628,
            -0.15318891406059265,
            -0.009581299498677254
        ],
        "right_vector": [
            0.1531953662633896,
            -0.9881959557533264,
            6.124976789578795e-05
        ],
        "location": [
            2871.883056640625,
            4242.9140625,
            360.31146240234375
        ],
        "rotation": [
            -0.003509514033794403,
            -0.5489764213562012,
            -171.1878204345703
        ],
        "velocity": [
            -5.9616923332214355,
            -0.9274434447288513,
            -0.043798744678497314
        ],
        "speed": 6.033400933069322,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 16.37606430053711,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2855.725341796875,
                4240.25,
                360.2308654785156
            ],
            "velocity": [
                -0.0015204810770228505,
                -6.166875391500071e-05,
                0.0006119591416791081
            ],
            "speed_kmh": 0.005904614307907588,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041555404663086,
                "transform": {
                    "location": {
                        "x": 2869.198486328125,
                        "y": 4252.509765625,
                        "z": 360.30792236328125
                    },
                    "rotation": {
                        "roll": 0.0012227059341967106,
                        "pitch": 0.415535032749176,
                        "yaw": 9.208672523498535
                    }
                },
                "velocity": {
                    "x": 7.9375834465026855,
                    "y": 1.287703037261963,
                    "z": 0.056685399264097214
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034159660339355,
                "transform": {
                    "location": {
                        "x": 2869.160888671875,
                        "y": 4249.21044921875,
                        "z": 360.30224609375
                    },
                    "rotation": {
                        "roll": 0.0024082467425614595,
                        "pitch": 0.40962690114974976,
                        "yaw": 9.204977035522461
                    }
                },
                "velocity": {
                    "x": 7.930274963378906,
                    "y": 1.286555290222168,
                    "z": 0.05678301677107811
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046039581298828,
                "transform": {
                    "location": {
                        "x": 2919.597412109375,
                        "y": 4257.37451171875,
                        "z": 360.65570068359375
                    },
                    "rotation": {
                        "roll": 0.0013176838401705027,
                        "pitch": 0.4140118956565857,
                        "yaw": 9.19381332397461
                    }
                },
                "velocity": {
                    "x": 7.9425048828125,
                    "y": 1.2853535413742065,
                    "z": 0.056851062923669815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038480758666992,
                "transform": {
                    "location": {
                        "x": 2919.012939453125,
                        "y": 4260.57080078125,
                        "z": 360.6568603515625
                    },
                    "rotation": {
                        "roll": 0.0007739560096524656,
                        "pitch": 0.41464027762413025,
                        "yaw": 9.19247817993164
                    }
                },
                "velocity": {
                    "x": 7.935044765472412,
                    "y": 1.2841581106185913,
                    "z": 0.05643610656261444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.1935453414917,
                "transform": {
                    "location": {
                        "x": 2895.123779296875,
                        "y": 4249.91943359375,
                        "z": 360.47491455078125
                    },
                    "rotation": {
                        "roll": -6.103642954258248e-05,
                        "pitch": -0.4177889823913574,
                        "yaw": -170.80621337890625
                    }
                },
                "velocity": {
                    "x": -8.08810806274414,
                    "y": -1.309021234512329,
                    "z": -0.05607013404369354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.00155639520380646,
                        "pitch": -0.4240386188030243,
                        "yaw": -170.9613800048828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7044825553894043,
                "transform": {
                    "location": {
                        "x": 2873.847412109375,
                        "y": 4246.47607421875,
                        "z": 360.33294677734375
                    },
                    "rotation": {
                        "roll": -0.001739498577080667,
                        "pitch": -1.2212172746658325,
                        "yaw": -170.9909210205078
                    }
                },
                "velocity": {
                    "x": -2.6684443950653076,
                    "y": -0.43954843282699585,
                    "z": -0.020672788843512535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016401706961914897,
                "transform": {
                    "location": {
                        "x": 2855.725341796875,
                        "y": 4240.25,
                        "z": 360.2308654785156
                    },
                    "rotation": {
                        "roll": -0.0002136255643563345,
                        "pitch": -0.6092528700828552,
                        "yaw": -170.89218139648438
                    }
                },
                "velocity": {
                    "x": -0.0015204810770228505,
                    "y": -6.166875391500071e-05,
                    "z": 0.0006119591416791081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0491251945495605,
                "transform": {
                    "location": {
                        "x": 2855.390625,
                        "y": 4243.48876953125,
                        "z": 360.18572998046875
                    },
                    "rotation": {
                        "roll": -0.001190186245366931,
                        "pitch": -0.42361512780189514,
                        "yaw": -170.75807189941406
                    }
                },
                "velocity": {
                    "x": -2.022665023803711,
                    "y": -0.3278696835041046,
                    "z": -0.015545548871159554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006451047956943512,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0005188030772842467,
                        "pitch": -0.44305387139320374,
                        "yaw": -170.7843017578125
                    }
                },
                "velocity": {
                    "x": -3.6420672131498577e-06,
                    "y": 7.89682162576355e-05,
                    "z": 0.000640242884401232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04012449458241463,
        "expert_target_speed": 6.4973231249231995,
        "target_point": [
            23.383046519958697,
            0.10262033072994425
        ],
        "target_point_next": [
            23.383046519958697,
            0.10262033072994425
        ]
    },
    "650": {
        "acceleration": [
            0.8163833618164062,
            0.14014959335327148,
            -0.004454031586647034
        ],
        "angular_velocity": [
            0.024257948622107506,
            0.08360445499420166,
            -3.3094356060028076
        ],
        "forward_vector": [
            -0.9881856441497803,
            -0.15298326313495636,
            -0.00923143606632948
        ],
        "right_vector": [
            0.15299025177955627,
            -0.9882277250289917,
            -5.123065420775674e-05
        ],
        "location": [
            2870.42236328125,
            4242.6875,
            360.30078125
        ],
        "rotation": [
            0.002935425378382206,
            -0.5289298295974731,
            -171.19976806640625
        ],
        "velocity": [
            -5.737314701080322,
            -0.8891586661338806,
            -0.04152761399745941
        ],
        "speed": 5.805805983047777,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.097917556762695,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2855.52783203125,
                4240.21875,
                360.2276916503906
            ],
            "velocity": [
                -1.2659375667572021,
                -0.2039818912744522,
                -0.010004701092839241
            ],
            "speed_kmh": 4.616298724199887,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045218467712402,
                "transform": {
                    "location": {
                        "x": 2871.185302734375,
                        "y": 4252.83154296875,
                        "z": 360.3221435546875
                    },
                    "rotation": {
                        "roll": -9.155290899798274e-05,
                        "pitch": 0.4115462005138397,
                        "yaw": 9.2240571975708
                    }
                },
                "velocity": {
                    "x": 7.941312313079834,
                    "y": 1.2875916957855225,
                    "z": 0.05651485174894333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051956176757812,
                "transform": {
                    "location": {
                        "x": 2871.145751953125,
                        "y": 4249.533203125,
                        "z": 360.3165283203125
                    },
                    "rotation": {
                        "roll": 0.0005855704075656831,
                        "pitch": 0.4116145074367523,
                        "yaw": 9.227209091186523
                    }
                },
                "velocity": {
                    "x": 7.947983741760254,
                    "y": 1.2885545492172241,
                    "z": 0.05638482794165611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045982360839844,
                "transform": {
                    "location": {
                        "x": 2921.583251953125,
                        "y": 4257.69482421875,
                        "z": 360.67010498046875
                    },
                    "rotation": {
                        "roll": 0.00014679288142360747,
                        "pitch": 0.4155418574810028,
                        "yaw": 9.188516616821289
                    }
                },
                "velocity": {
                    "x": 7.942623615264893,
                    "y": 1.2842398881912231,
                    "z": 0.057427357882261276
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035841941833496,
                "transform": {
                    "location": {
                        "x": 2920.99658203125,
                        "y": 4260.8916015625,
                        "z": 360.6712951660156
                    },
                    "rotation": {
                        "roll": -0.000549317745026201,
                        "pitch": 0.41620439291000366,
                        "yaw": 9.198728561401367
                    }
                },
                "velocity": {
                    "x": 7.932302474975586,
                    "y": 1.2845661640167236,
                    "z": 0.05676440894603729
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.425342559814453,
                "transform": {
                    "location": {
                        "x": 2893.087646484375,
                        "y": 4249.58984375,
                        "z": 360.4606018066406
                    },
                    "rotation": {
                        "roll": -0.0013122569071128964,
                        "pitch": -0.389286607503891,
                        "yaw": -170.8067169189453
                    }
                },
                "velocity": {
                    "x": -8.316935539245605,
                    "y": -1.3459995985031128,
                    "z": -0.05714002624154091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.00155639520380646,
                        "pitch": -0.4240386188030243,
                        "yaw": -170.9613800048828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.322885513305664,
                "transform": {
                    "location": {
                        "x": 2873.40185546875,
                        "y": 4246.40380859375,
                        "z": 360.3299560546875
                    },
                    "rotation": {
                        "roll": 0.00474312249571085,
                        "pitch": -0.6997665166854858,
                        "yaw": -170.9650421142578
                    }
                },
                "velocity": {
                    "x": -2.2933244705200195,
                    "y": -0.3691033124923706,
                    "z": -0.014930619858205318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2823052406311035,
                "transform": {
                    "location": {
                        "x": 2855.52783203125,
                        "y": 4240.21875,
                        "z": 360.2276916503906
                    },
                    "rotation": {
                        "roll": -0.0014953641220927238,
                        "pitch": -0.4176318943500519,
                        "yaw": -170.8666229248047
                    }
                },
                "velocity": {
                    "x": -1.2659375667572021,
                    "y": -0.2039818912744522,
                    "z": -0.010004701092839241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4916017055511475,
                "transform": {
                    "location": {
                        "x": 2854.987548828125,
                        "y": 4243.42626953125,
                        "z": 360.18255615234375
                    },
                    "rotation": {
                        "roll": -0.002868653740733862,
                        "pitch": -0.41262537240982056,
                        "yaw": -170.52947998046875
                    }
                },
                "velocity": {
                    "x": -1.4721168279647827,
                    "y": -0.24006885290145874,
                    "z": -0.010704164393246174
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003918916918337345,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0005188030772842467,
                        "pitch": -0.44305387139320374,
                        "yaw": -170.7843017578125
                    }
                },
                "velocity": {
                    "x": -8.326470378960948e-06,
                    "y": -3.728194860741496e-05,
                    "z": 0.00039002540870569646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.027136873453855515,
        "expert_target_speed": 6.336696099936513,
        "target_point": [
            21.90486513888534,
            0.10706880170220456
        ],
        "target_point_next": [
            21.90486513888534,
            0.10706880170220456
        ]
    },
    "655": {
        "acceleration": [
            0.7161235809326172,
            0.10360956192016602,
            0.009355172514915466
        ],
        "angular_velocity": [
            -0.0029867668636143208,
            0.0805843248963356,
            3.3815219402313232
        ],
        "forward_vector": [
            -0.9881089329719543,
            -0.1534954011440277,
            -0.008934258483350277
        ],
        "right_vector": [
            0.1535021960735321,
            -0.9881482720375061,
            -7.673294021515176e-05
        ],
        "location": [
            2869.013427734375,
            4242.46923828125,
            360.29058837890625
        ],
        "rotation": [
            0.004396649077534676,
            -0.5119021534919739,
            -171.17010498046875
        ],
        "velocity": [
            -5.546299934387207,
            -0.8595579862594604,
            -0.04046056047081947
        ],
        "speed": 5.612511282298322,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 14.100099563598633,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2855.10546875,
                4240.150390625,
                360.2239074707031
            ],
            "velocity": [
                -2.1361448764801025,
                -0.3454602062702179,
                -0.016467370092868805
            ],
            "speed_kmh": 7.7902609743007165,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.023524284362793,
                "transform": {
                    "location": {
                        "x": 2873.16650390625,
                        "y": 4253.15283203125,
                        "z": 360.33624267578125
                    },
                    "rotation": {
                        "roll": 0.0017055273056030273,
                        "pitch": 0.3979131281375885,
                        "yaw": 9.192062377929688
                    }
                },
                "velocity": {
                    "x": 7.920131683349609,
                    "y": 1.2826948165893555,
                    "z": 0.056158293038606644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04420280456543,
                "transform": {
                    "location": {
                        "x": 2873.132080078125,
                        "y": 4249.85498046875,
                        "z": 360.3306884765625
                    },
                    "rotation": {
                        "roll": -0.00033569795778021216,
                        "pitch": 0.3999826908111572,
                        "yaw": 9.187682151794434
                    }
                },
                "velocity": {
                    "x": 7.94039249420166,
                    "y": 1.2869123220443726,
                    "z": 0.056781988590955734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04592227935791,
                "transform": {
                    "location": {
                        "x": 2923.569091796875,
                        "y": 4258.0166015625,
                        "z": 360.6845703125
                    },
                    "rotation": {
                        "roll": 0.0008357262704521418,
                        "pitch": 0.41528913378715515,
                        "yaw": 9.19138240814209
                    }
                },
                "velocity": {
                    "x": 7.942629814147949,
                    "y": 1.283836841583252,
                    "z": 0.05716105177998543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038392066955566,
                "transform": {
                    "location": {
                        "x": 2922.97998046875,
                        "y": 4261.2119140625,
                        "z": 360.6856994628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4161634147167206,
                        "yaw": 9.200945854187012
                    }
                },
                "velocity": {
                    "x": 7.934628963470459,
                    "y": 1.2861673831939697,
                    "z": 0.05642031505703926
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.823111534118652,
                "transform": {
                    "location": {
                        "x": 2890.941162109375,
                        "y": 4249.2421875,
                        "z": 360.44586181640625
                    },
                    "rotation": {
                        "roll": -0.0010986338602378964,
                        "pitch": -0.3784812390804291,
                        "yaw": -170.80709838867188
                    }
                },
                "velocity": {
                    "x": -8.709586143493652,
                    "y": -1.4095516204833984,
                    "z": -0.059810273349285126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.00155639520380646,
                        "pitch": -0.4240386188030243,
                        "yaw": -170.9613800048828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9756388664245605,
                "transform": {
                    "location": {
                        "x": 2872.61376953125,
                        "y": 4246.27685546875,
                        "z": 360.3246154785156
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": -0.20193453133106232,
                        "yaw": -170.91209411621094
                    }
                },
                "velocity": {
                    "x": -3.924855947494507,
                    "y": -0.6328374743461609,
                    "z": -0.02695433981716633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.163961410522461,
                "transform": {
                    "location": {
                        "x": 2855.10546875,
                        "y": 4240.150390625,
                        "z": 360.2239074707031
                    },
                    "rotation": {
                        "roll": -0.0014038077788427472,
                        "pitch": -0.35659733414649963,
                        "yaw": -170.85003662109375
                    }
                },
                "velocity": {
                    "x": -2.1361448764801025,
                    "y": -0.3454602062702179,
                    "z": -0.016467370092868805
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7706101536750793,
                "transform": {
                    "location": {
                        "x": 2854.65869140625,
                        "y": 4243.3720703125,
                        "z": 360.180419921875
                    },
                    "rotation": {
                        "roll": -0.0037231461610645056,
                        "pitch": -0.48455408215522766,
                        "yaw": -170.6732177734375
                    }
                },
                "velocity": {
                    "x": -0.7592597603797913,
                    "y": -0.13137011229991913,
                    "z": -0.010320949368178844
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0022583019454032183,
                        "pitch": -0.4430265426635742,
                        "yaw": -170.7843017578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01980721391737461,
        "expert_target_speed": 6.1092496799564575,
        "target_point": [
            20.4791767186739,
            0.09632437764282953
        ],
        "target_point_next": [
            20.4791767186739,
            0.09632437764282953
        ]
    },
    "660": {
        "acceleration": [
            1.4176559448242188,
            0.23145198822021484,
            0.009201392531394958
        ],
        "angular_velocity": [
            -0.010867857374250889,
            -0.168799489736557,
            -3.6182057857513428
        ],
        "forward_vector": [
            -0.9882091879844666,
            -0.15284095704555511,
            -0.009070629253983498
        ],
        "right_vector": [
            0.15284790098667145,
            -0.9882497191429138,
            -7.230840856209397e-05
        ],
        "location": [
            2867.65576171875,
            4242.2587890625,
            360.28082275390625
        ],
        "rotation": [
            0.004143137019127607,
            -0.5197159051895142,
            -171.20803833007812
        ],
        "velocity": [
            -5.290304660797119,
            -0.8192263841629028,
            -0.039370033890008926
        ],
        "speed": 5.3533592512141706,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.266129493713379,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2854.572509765625,
                4240.064453125,
                360.2208251953125
            ],
            "velocity": [
                -1.158361792564392,
                -0.1879095435142517,
                -0.009167623706161976
            ],
            "speed_kmh": 4.224743927513386,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043188095092773,
                "transform": {
                    "location": {
                        "x": 2875.1494140625,
                        "y": 4253.47412109375,
                        "z": 360.35009765625
                    },
                    "rotation": {
                        "roll": 0.00028817899874411523,
                        "pitch": 0.4010891914367676,
                        "yaw": 9.214550971984863
                    }
                },
                "velocity": {
                    "x": 7.939515113830566,
                    "y": 1.2859967947006226,
                    "z": 0.05646669119596481
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044114112854004,
                "transform": {
                    "location": {
                        "x": 2875.11669921875,
                        "y": 4250.17724609375,
                        "z": 360.3445739746094
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.3981863558292389,
                        "yaw": 9.217262268066406
                    }
                },
                "velocity": {
                    "x": 7.940463542938232,
                    "y": 1.2859400510787964,
                    "z": 0.056285515427589417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046171188354492,
                "transform": {
                    "location": {
                        "x": 2925.55419921875,
                        "y": 4258.33740234375,
                        "z": 360.6990661621094
                    },
                    "rotation": {
                        "roll": -0.001129148993641138,
                        "pitch": 0.4181987941265106,
                        "yaw": 9.18899154663086
                    }
                },
                "velocity": {
                    "x": 7.942674160003662,
                    "y": 1.2850897312164307,
                    "z": 0.05783282220363617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035633087158203,
                "transform": {
                    "location": {
                        "x": 2924.963134765625,
                        "y": 4261.53369140625,
                        "z": 360.7001953125
                    },
                    "rotation": {
                        "roll": -0.0005493179778568447,
                        "pitch": 0.4194760322570801,
                        "yaw": 9.202546119689941
                    }
                },
                "velocity": {
                    "x": 7.932021141052246,
                    "y": 1.2850059270858765,
                    "z": 0.05657961592078209
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2952.36767578125,
                        "y": 4255.88720703125,
                        "z": 360.89752197265625
                    },
                    "rotation": {
                        "roll": -0.00018310663290321827,
                        "pitch": -0.4457381069660187,
                        "yaw": -170.91705322265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.842077732086182,
                "transform": {
                    "location": {
                        "x": 2888.878662109375,
                        "y": 4248.90869140625,
                        "z": 360.4318542480469
                    },
                    "rotation": {
                        "roll": -0.0013122563250362873,
                        "pitch": -0.4066148102283478,
                        "yaw": -170.8070068359375
                    }
                },
                "velocity": {
                    "x": -7.7411675453186035,
                    "y": -1.2528493404388428,
                    "z": -0.05363677069544792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2942.1494140625,
                        "y": 4254.23388671875,
                        "z": 360.80419921875
                    },
                    "rotation": {
                        "roll": -0.00155639520380646,
                        "pitch": -0.4240386188030243,
                        "yaw": -170.9613800048828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.404245376586914,
                "transform": {
                    "location": {
                        "x": 2871.444091796875,
                        "y": 4246.087890625,
                        "z": 360.3166198730469
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": -0.1264336258172989,
                        "yaw": -170.86265563964844
                    }
                },
                "velocity": {
                    "x": -5.335005760192871,
                    "y": -0.8616019487380981,
                    "z": -0.03502001240849495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1735399961471558,
                "transform": {
                    "location": {
                        "x": 2854.572509765625,
                        "y": 4240.064453125,
                        "z": 360.2208251953125
                    },
                    "rotation": {
                        "roll": -0.0007629420724697411,
                        "pitch": -0.4669185280799866,
                        "yaw": -170.81155395507812
                    }
                },
                "velocity": {
                    "x": -1.158361792564392,
                    "y": -0.1879095435142517,
                    "z": -0.009167623706161976
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2160080671310425,
                "transform": {
                    "location": {
                        "x": 2854.255615234375,
                        "y": 4243.3125,
                        "z": 360.17718505859375
                    },
                    "rotation": {
                        "roll": -0.0017395050963386893,
                        "pitch": -0.4548017680644989,
                        "yaw": -170.10853576660156
                    }
                },
                "velocity": {
                    "x": -1.2049386501312256,
                    "y": -0.16301880776882172,
                    "z": -0.014949779026210308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003300442185718566,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0014953623758628964,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.7843475341797
                    }
                },
                "velocity": {
                    "x": -3.6492197068582755e-06,
                    "y": 8.181327575584874e-05,
                    "z": 0.0003197224868927151
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3749,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2916.71240234375,
                        "y": 4249.23291015625,
                        "z": 360.6257629394531
                    },
                    "rotation": {
                        "roll": 0.0008285417570732534,
                        "pitch": -0.40911465883255005,
                        "yaw": -170.80853271484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3748,
                "type": "vehicle.ford.crown",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2922.635986328125,
                        "y": 4250.19189453125,
                        "z": 360.6900939941406
                    },
                    "rotation": {
                        "roll": 0.0007221275009214878,
                        "pitch": -0.4092717468738556,
                        "yaw": -170.80845642089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6828393936157227,
                    "y": 0.9003620743751526,
                    "z": 0.7874829769134521
                }
            },
            {
                "id": 3747,
                "type": "vehicle.dodge.charger_police_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.507080078125,
                        "y": 4251.7890625,
                        "z": 360.7426452636719
                    },
                    "rotation": {
                        "roll": 0.0008386751869693398,
                        "pitch": -0.4217573404312134,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6187572479248047,
                    "y": 0.9648797512054443,
                    "z": 0.819191575050354
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00614736694842577,
        "expert_target_speed": 5.753150124497435,
        "target_point": [
            19.10522864088909,
            0.10942717732890994
        ],
        "target_point_next": [
            19.10522864088909,
            0.10942717732890994
        ]
    },
    "665": {
        "acceleration": [
            7.081079483032227,
            1.088402271270752,
            0.07347710430622101
        ],
        "angular_velocity": [
            0.2361764758825302,
            -1.5926660299301147,
            -0.12100371718406677
        ],
        "forward_vector": [
            -0.9882091283798218,
            -0.15268294513225555,
            -0.011428941041231155
        ],
        "right_vector": [
            0.1526939868927002,
            -0.9882735013961792,
            -9.463784954277799e-05
        ],
        "location": [
            2866.39306640625,
            4242.0634765625,
            360.2718811035156
        ],
        "rotation": [
            0.005422703921794891,
            -0.654844343662262,
            -171.21697998046875
        ],
        "velocity": [
            -4.485089302062988,
            -0.6930288076400757,
            -0.03538593649864197
        ],
        "speed": 4.538316315077529,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.0886869430542,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2854.4736328125,
                4240.04833984375,
                360.2200622558594
            ],
            "velocity": [
                -0.828244149684906,
                -0.13351014256477356,
                -0.006408891640603542
            ],
            "speed_kmh": 3.0202571198441235,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034256935119629,
                "transform": {
                    "location": {
                        "x": 2877.1337890625,
                        "y": 4253.79541015625,
                        "z": 360.364013671875
                    },
                    "rotation": {
                        "roll": -0.00027465494349598885,
                        "pitch": 0.39873960614204407,
                        "yaw": 9.1862154006958
                    }
                },
                "velocity": {
                    "x": 7.930737018585205,
                    "y": 1.2843204736709595,
                    "z": 0.05668703094124794
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046758651733398,
                "transform": {
                    "location": {
                        "x": 2877.102783203125,
                        "y": 4250.49853515625,
                        "z": 360.3584289550781
                    },
                    "rotation": {
                        "roll": 0.0005300695193000138,
                        "pitch": 0.39946359395980835,
                        "yaw": 9.176695823669434
                    }
                },
                "velocity": {
                    "x": 7.943381309509277,
                    "y": 1.284452199935913,
                    "z": 0.05656936392188072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045947074890137,
                "transform": {
                    "location": {
                        "x": 2927.5400390625,
                        "y": 4258.6591796875,
                        "z": 360.7136535644531
                    },
                    "rotation": {
                        "roll": -0.00091552670346573,
                        "pitch": 0.41999512910842896,
                        "yaw": 9.196454048156738
                    }
                },
                "velocity": {
                    "x": 7.942366600036621,
                    "y": 1.2856193780899048,
                    "z": 0.05699643865227699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038117408752441,
                "transform": {
                    "location": {
                        "x": 2926.946533203125,
                        "y": 4261.85498046875,
                        "z": 360.7147521972656
                    },
                    "rotation": {
                        "roll": -0.0003662120725493878,
                        "pitch": 0.4212382435798645,
                        "yaw": 9.202460289001465
                    }
                },
                "velocity": {
                    "x": 7.934453010559082,
                    "y": 1.2854735851287842,
                    "z": 0.05778098851442337
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2951.1337890625,
                        "y": 4255.6875,
                        "z": 360.8878479003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4429035782814026,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.265117645263672,
                "transform": {
                    "location": {
                        "x": 2887.127685546875,
                        "y": 4248.62548828125,
                        "z": 360.4200439453125
                    },
                    "rotation": {
                        "roll": -0.00036621218896470964,
                        "pitch": -0.4234580397605896,
                        "yaw": -170.80699157714844
                    }
                },
                "velocity": {
                    "x": -6.18449592590332,
                    "y": -1.000909447669983,
                    "z": -0.043487437069416046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.088623046875,
                        "y": 4253.9287109375,
                        "z": 360.7919006347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.664797782897949,
                "transform": {
                    "location": {
                        "x": 2870.07421875,
                        "y": 4245.86669921875,
                        "z": 360.3066711425781
                    },
                    "rotation": {
                        "roll": -0.00030517406412400305,
                        "pitch": -0.26928019523620605,
                        "yaw": -170.8707275390625
                    }
                },
                "velocity": {
                    "x": -5.592052936553955,
                    "y": -0.9040064811706543,
                    "z": -0.04063357412815094
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8389602899551392,
                "transform": {
                    "location": {
                        "x": 2854.4736328125,
                        "y": 4240.04833984375,
                        "z": 360.2200622558594
                    },
                    "rotation": {
                        "roll": -0.00015259400242939591,
                        "pitch": -0.47814735770225525,
                        "yaw": -170.8268280029297
                    }
                },
                "velocity": {
                    "x": -0.828244149684906,
                    "y": -0.13351014256477356,
                    "z": -0.006408891640603542
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1506781578063965,
                "transform": {
                    "location": {
                        "x": 2853.82421875,
                        "y": 4243.24609375,
                        "z": 360.1736755371094
                    },
                    "rotation": {
                        "roll": -0.007080075331032276,
                        "pitch": -0.40982499718666077,
                        "yaw": -169.875244140625
                    }
                },
                "velocity": {
                    "x": -2.1235146522521973,
                    "y": -0.34034985303878784,
                    "z": -0.016257286071777344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.192933794111013e-05,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0016784688923507929,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.78436279296875
                    }
                },
                "velocity": {
                    "x": -8.62717570271343e-06,
                    "y": 7.461584755219519e-05,
                    "z": -5.300047996570356e-05
                },
                "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": 0.0020422302186489105,
        "expert_target_speed": 4.872689625966034,
        "target_point": [
            17.82749996338427,
            0.11218872176510963
        ],
        "target_point_next": [
            17.82749996338427,
            0.11218872176510963
        ]
    },
    "670": {
        "acceleration": [
            0.6630516052246094,
            0.05025982856750488,
            -0.015361607074737549
        ],
        "angular_velocity": [
            -0.10584966093301773,
            0.6727383136749268,
            1.010425329208374
        ],
        "forward_vector": [
            -0.9879366159439087,
            -0.15434198081493378,
            -0.012640497647225857
        ],
        "right_vector": [
            0.15435093641281128,
            -0.9880160093307495,
            0.0002684251812752336
        ],
        "location": [
            2865.374267578125,
            4241.90283203125,
            360.2646484375
        ],
        "rotation": [
            -0.015380859375,
            -0.7242664098739624,
            -171.1206512451172
        ],
        "velocity": [
            -3.91497540473938,
            -0.626596987247467,
            -0.02924581989645958
        ],
        "speed": 3.9648021645653233,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 11.367288589477539,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2854.167724609375,
                4239.99853515625,
                360.2168273925781
            ],
            "velocity": [
                -1.5855462551116943,
                -0.2566375732421875,
                -0.011012543924152851
            ],
            "speed_kmh": 5.782390160824296,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033112525939941,
                "transform": {
                    "location": {
                        "x": 2879.115478515625,
                        "y": 4254.11572265625,
                        "z": 360.3777160644531
                    },
                    "rotation": {
                        "roll": 0.0013383319601416588,
                        "pitch": 0.39564552903175354,
                        "yaw": 9.201306343078613
                    }
                },
                "velocity": {
                    "x": 7.929863929748535,
                    "y": 1.2825535535812378,
                    "z": 0.05662393569946289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045039176940918,
                "transform": {
                    "location": {
                        "x": 2879.08837890625,
                        "y": 4250.81982421875,
                        "z": 360.37225341796875
                    },
                    "rotation": {
                        "roll": 9.831971510720905e-06,
                        "pitch": 0.3964036703109741,
                        "yaw": 9.208120346069336
                    }
                },
                "velocity": {
                    "x": 7.941587448120117,
                    "y": 1.284785270690918,
                    "z": 0.05625661835074425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045587539672852,
                "transform": {
                    "location": {
                        "x": 2929.525634765625,
                        "y": 4258.9814453125,
                        "z": 360.728271484375
                    },
                    "rotation": {
                        "roll": -0.0011596658732742071,
                        "pitch": 0.4206644892692566,
                        "yaw": 9.193751335144043
                    }
                },
                "velocity": {
                    "x": 7.941997528076172,
                    "y": 1.2855968475341797,
                    "z": 0.05835931748151779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0352783203125,
                "transform": {
                    "location": {
                        "x": 2928.929931640625,
                        "y": 4262.17626953125,
                        "z": 360.7294006347656
                    },
                    "rotation": {
                        "roll": -3.051990279345773e-05,
                        "pitch": 0.42264524102211,
                        "yaw": 9.202537536621094
                    }
                },
                "velocity": {
                    "x": 7.9316606521606445,
                    "y": 1.2849864959716797,
                    "z": 0.05722568556666374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2948.657470703125,
                        "y": 4255.34423828125,
                        "z": 360.86663818359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.43032920360565186,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.384213924407959,
                "transform": {
                    "location": {
                        "x": 2885.72119140625,
                        "y": 4248.39794921875,
                        "z": 360.4102783203125
                    },
                    "rotation": {
                        "roll": 0.00040135078597813845,
                        "pitch": -0.41433292627334595,
                        "yaw": -170.8065948486328
                    }
                },
                "velocity": {
                    "x": -5.314926624298096,
                    "y": -0.860207200050354,
                    "z": -0.03688737377524376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2934.486572265625,
                        "y": 4253.08349609375,
                        "z": 360.7569580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.665473937988281,
                "transform": {
                    "location": {
                        "x": 2868.4619140625,
                        "y": 4245.6064453125,
                        "z": 360.29498291015625
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.05999637767672539,
                        "yaw": -170.84625244140625
                    }
                },
                "velocity": {
                    "x": -7.567018032073975,
                    "y": -1.223421335220337,
                    "z": -0.054454412311315536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6062195301055908,
                "transform": {
                    "location": {
                        "x": 2854.167724609375,
                        "y": 4239.99853515625,
                        "z": 360.2168273925781
                    },
                    "rotation": {
                        "roll": 0.0013549546711146832,
                        "pitch": -0.37661659717559814,
                        "yaw": -170.86875915527344
                    }
                },
                "velocity": {
                    "x": -1.5855462551116943,
                    "y": -0.2566375732421875,
                    "z": -0.011012543924152851
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4037480354309082,
                "transform": {
                    "location": {
                        "x": 2853.415283203125,
                        "y": 4243.18115234375,
                        "z": 360.1706237792969
                    },
                    "rotation": {
                        "roll": -0.009368893690407276,
                        "pitch": -0.42647698521614075,
                        "yaw": -169.74200439453125
                    }
                },
                "velocity": {
                    "x": -1.3847637176513672,
                    "y": -0.22986933588981628,
                    "z": -0.009903487749397755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008590951911173761,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0007324228645302355,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.784423828125
                    }
                },
                "velocity": {
                    "x": -1.3190805475460365e-05,
                    "y": -5.792472165921936e-06,
                    "z": 0.0008589744102209806
                },
                "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": -0.0013436035951599479,
        "expert_target_speed": 4.278517197472054,
        "target_point": [
            16.79627808215014,
            0.08075950930875875
        ],
        "target_point_next": [
            16.79627808215014,
            0.08075950930875875
        ]
    },
    "675": {
        "acceleration": [
            0.3385162353515625,
            0.0546717643737793,
            0.019265562295913696
        ],
        "angular_velocity": [
            -0.04707573726773262,
            0.4479326903820038,
            -0.18633267283439636
        ],
        "forward_vector": [
            -0.9877450466156006,
            -0.15575695037841797,
            -0.009973360225558281
        ],
        "right_vector": [
            0.15576371550559998,
            -0.9877943396568298,
            0.00010012986604124308
        ],
        "location": [
            2864.408447265625,
            4241.74951171875,
            360.2569885253906
        ],
        "rotation": [
            -0.005737303756177425,
            -0.5714409351348877,
            -171.03884887695312
        ],
        "velocity": [
            -3.810852527618408,
            -0.607793390750885,
            -0.02856607362627983
        ],
        "speed": 3.859016687330604,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.773995399475098,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.7880859375,
                4239.93701171875,
                360.2151794433594
            ],
            "velocity": [
                -0.15362302958965302,
                -0.02414173260331154,
                -0.0013547324342653155
            ],
            "speed_kmh": 0.5598514368140597,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038910865783691,
                "transform": {
                    "location": {
                        "x": 2881.099365234375,
                        "y": 4254.43603515625,
                        "z": 360.3914794921875
                    },
                    "rotation": {
                        "roll": -3.0513123419950716e-05,
                        "pitch": 0.39438194036483765,
                        "yaw": 9.175592422485352
                    }
                },
                "velocity": {
                    "x": 7.935549736022949,
                    "y": 1.2837918996810913,
                    "z": 0.054896142333745956
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04642391204834,
                "transform": {
                    "location": {
                        "x": 2881.07373046875,
                        "y": 4251.140625,
                        "z": 360.3860168457031
                    },
                    "rotation": {
                        "roll": 0.0002838596992660314,
                        "pitch": 0.39226457476615906,
                        "yaw": 9.171088218688965
                    }
                },
                "velocity": {
                    "x": 7.943178653717041,
                    "y": 1.2836195230484009,
                    "z": 0.056279752403497696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046263694763184,
                "transform": {
                    "location": {
                        "x": 2931.51123046875,
                        "y": 4259.30224609375,
                        "z": 360.742919921875
                    },
                    "rotation": {
                        "roll": 8.512289059581235e-05,
                        "pitch": 0.4240112900733948,
                        "yaw": 9.191269874572754
                    }
                },
                "velocity": {
                    "x": 7.942634582519531,
                    "y": 1.2858588695526123,
                    "z": 0.05899069830775261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.037877082824707,
                "transform": {
                    "location": {
                        "x": 2930.9130859375,
                        "y": 4262.49658203125,
                        "z": 360.7440490722656
                    },
                    "rotation": {
                        "roll": 0.0007999679073691368,
                        "pitch": 0.42522022128105164,
                        "yaw": 9.199228286743164
                    }
                },
                "velocity": {
                    "x": 7.934278964996338,
                    "y": 1.284979224205017,
                    "z": 0.05930338799953461
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2944.949951171875,
                        "y": 4254.77734375,
                        "z": 360.8371276855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.605275630950928,
                "transform": {
                    "location": {
                        "x": 2884.39013671875,
                        "y": 4248.1826171875,
                        "z": 360.40081787109375
                    },
                    "rotation": {
                        "roll": 0.0008909266325645149,
                        "pitch": -0.38882216811180115,
                        "yaw": -170.8083038330078
                    }
                },
                "velocity": {
                    "x": -5.533207416534424,
                    "y": -0.895166277885437,
                    "z": -0.037500541657209396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.629167556762695,
                "transform": {
                    "location": {
                        "x": 2929.5556640625,
                        "y": 4252.306640625,
                        "z": 360.716796875
                    },
                    "rotation": {
                        "roll": -0.01663207821547985,
                        "pitch": -0.605250358581543,
                        "yaw": -170.68614196777344
                    }
                },
                "velocity": {
                    "x": -17.403223037719727,
                    "y": -2.8090481758117676,
                    "z": -0.15691187977790833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.524879455566406,
                "transform": {
                    "location": {
                        "x": 2866.5166015625,
                        "y": 4245.2919921875,
                        "z": 360.2808532714844
                    },
                    "rotation": {
                        "roll": -0.0016174318734556437,
                        "pitch": -0.3460378646850586,
                        "yaw": -170.76577758789062
                    }
                },
                "velocity": {
                    "x": -7.427830219268799,
                    "y": -1.203395962715149,
                    "z": -0.0546608492732048
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.15551428496837616,
                "transform": {
                    "location": {
                        "x": 2853.7880859375,
                        "y": 4239.93701171875,
                        "z": 360.2151794433594
                    },
                    "rotation": {
                        "roll": 0.0008444429258815944,
                        "pitch": -0.5149211287498474,
                        "yaw": -170.8516387939453
                    }
                },
                "velocity": {
                    "x": -0.15362302958965302,
                    "y": -0.02414173260331154,
                    "z": -0.0013547324342653155
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8042093515396118,
                "transform": {
                    "location": {
                        "x": 2853.000244140625,
                        "y": 4243.11279296875,
                        "z": 360.1673278808594
                    },
                    "rotation": {
                        "roll": -0.007446293253451586,
                        "pitch": -0.405849814414978,
                        "yaw": -169.84317016601562
                    }
                },
                "velocity": {
                    "x": -1.7794928550720215,
                    "y": -0.2972557842731476,
                    "z": -0.0146773811429739
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013706317986361682,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0020141652785241604,
                        "pitch": -0.44250744581222534,
                        "yaw": -170.78439331054688
                    }
                },
                "velocity": {
                    "x": 9.322091500507668e-06,
                    "y": -0.00013524021778721362,
                    "z": -2.0236017007846385e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.7053073048591614,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.001405533286742866,
        "expert_target_speed": 3.9490102491378707,
        "target_point": [
            15.81846270446773,
            0.05576409847821617
        ],
        "target_point_next": [
            15.81846270446773,
            0.05576409847821617
        ]
    },
    "680": {
        "acceleration": [
            -1.0268068313598633,
            -0.15755057334899902,
            0.0043922290205955505
        ],
        "angular_velocity": [
            -0.0805787518620491,
            0.5237613916397095,
            0.5272517204284668
        ],
        "forward_vector": [
            -0.9876078367233276,
            -0.15673692524433136,
            -0.008022461086511612
        ],
        "right_vector": [
            0.15674154460430145,
            -0.9876396656036377,
            5.379417780204676e-05
        ],
        "location": [
            2863.449951171875,
            4241.5966796875,
            360.2493591308594
        ],
        "rotation": [
            -0.003082278650254011,
            -0.45965805649757385,
            -170.98216247558594
        ],
        "velocity": [
            -3.9096388816833496,
            -0.624859094619751,
            -0.029408983886241913
        ],
        "speed": 3.959258146837517,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.803433418273926,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.7880859375,
                4239.93701171875,
                360.2151184082031
            ],
            "velocity": [
                0.0005090679042041302,
                0.0002904800930991769,
                0.0001724127505440265
            ],
            "speed_kmh": 0.002199405473935381,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033370018005371,
                "transform": {
                    "location": {
                        "x": 2883.08251953125,
                        "y": 4254.75634765625,
                        "z": 360.4051208496094
                    },
                    "rotation": {
                        "roll": 0.000325228669680655,
                        "pitch": 0.3925309479236603,
                        "yaw": 9.199881553649902
                    }
                },
                "velocity": {
                    "x": 7.930145263671875,
                    "y": 1.282597303390503,
                    "z": 0.05269259214401245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045269966125488,
                "transform": {
                    "location": {
                        "x": 2883.0595703125,
                        "y": 4251.4609375,
                        "z": 360.39971923828125
                    },
                    "rotation": {
                        "roll": 0.001551543129608035,
                        "pitch": 0.3921211361885071,
                        "yaw": 9.197835922241211
                    }
                },
                "velocity": {
                    "x": 7.942034721374512,
                    "y": 1.2835180759429932,
                    "z": 0.05504751205444336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2933.544921875,
                        "y": 4259.5947265625,
                        "z": 360.7584228515625
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.9609375,
                        "y": 4262.78466796875,
                        "z": 360.7590026855469
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2940.573486328125,
                        "y": 4254.08154296875,
                        "z": 360.80389404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.463122844696045,
                "transform": {
                    "location": {
                        "x": 2882.90576171875,
                        "y": 4247.9423828125,
                        "z": 360.3905334472656
                    },
                    "rotation": {
                        "roll": 0.0007125661359168589,
                        "pitch": -0.3762477934360504,
                        "yaw": -170.82015991210938
                    }
                },
                "velocity": {
                    "x": -6.38007116317749,
                    "y": -1.0318653583526611,
                    "z": -0.043637197464704514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.59522819519043,
                "transform": {
                    "location": {
                        "x": 2925.211181640625,
                        "y": 4251.58935546875,
                        "z": 360.6800842285156
                    },
                    "rotation": {
                        "roll": -0.022796630859375,
                        "pitch": -0.4635034501552582,
                        "yaw": -170.3949432373047
                    }
                },
                "velocity": {
                    "x": -17.35205078125,
                    "y": -2.9121522903442383,
                    "z": -0.13328929245471954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.377753257751465,
                "transform": {
                    "location": {
                        "x": 2865.0361328125,
                        "y": 4245.05224609375,
                        "z": 360.26953125
                    },
                    "rotation": {
                        "roll": -0.0023803669027984142,
                        "pitch": -1.0671076774597168,
                        "yaw": -170.57997131347656
                    }
                },
                "velocity": {
                    "x": -3.3353731632232666,
                    "y": -0.5326958298683167,
                    "z": -0.027179330587387085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006109459791332483,
                "transform": {
                    "location": {
                        "x": 2853.7880859375,
                        "y": 4239.93701171875,
                        "z": 360.2151184082031
                    },
                    "rotation": {
                        "roll": 0.0010417215526103973,
                        "pitch": -0.5087602734565735,
                        "yaw": -170.8518524169922
                    }
                },
                "velocity": {
                    "x": 0.0005090679042041302,
                    "y": 0.0002904800930991769,
                    "z": 0.0001724127505440265
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00020588122424669564,
                "transform": {
                    "location": {
                        "x": 2852.950927734375,
                        "y": 4243.10498046875,
                        "z": 360.1673889160156
                    },
                    "rotation": {
                        "roll": -0.00955200381577015,
                        "pitch": -0.5035693049430847,
                        "yaw": -169.8391571044922
                    }
                },
                "velocity": {
                    "x": 0.00020331564883235842,
                    "y": -2.1472201297001448e-06,
                    "z": -3.2329800887964666e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008531438070349395,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.00170898565556854,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.784423828125
                    }
                },
                "velocity": {
                    "x": -1.8648057448444888e-05,
                    "y": -1.6513133232365362e-05,
                    "z": 0.0008527801255695522
                },
                "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": -0.0006915677804499865,
        "expert_target_speed": 3.597543995441464,
        "target_point": [
            14.847906237306342,
            0.03941348327434513
        ],
        "target_point_next": [
            14.847906237306342,
            0.03941348327434513
        ]
    },
    "685": {
        "acceleration": [
            -1.3353538513183594,
            -0.11425614356994629,
            -0.0009091198444366455
        ],
        "angular_velocity": [
            0.05509347841143608,
            0.33571872115135193,
            -0.40804266929626465
        ],
        "forward_vector": [
            -0.9875975251197815,
            -0.15689678490161896,
            -0.005876983515918255
        ],
        "right_vector": [
            0.15690015256404877,
            -0.9876144528388977,
            -0.0001122524481615983
        ],
        "location": [
            2862.425048828125,
            4241.43310546875,
            360.2412414550781
        ],
        "rotation": [
            0.0064317029900848866,
            -0.3367283046245575,
            -170.9730224609375
        ],
        "velocity": [
            -4.271230220794678,
            -0.6740187406539917,
            -0.030432933941483498
        ],
        "speed": 4.324084742668966,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.793797492980957,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.76025390625,
                4239.9326171875,
                360.2141418457031
            ],
            "velocity": [
                -0.3655320405960083,
                -0.058178212493658066,
                -0.002275609876960516
            ],
            "speed_kmh": 1.3325036883362475,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036635398864746,
                "transform": {
                    "location": {
                        "x": 2885.06494140625,
                        "y": 4255.07666015625,
                        "z": 360.4187316894531
                    },
                    "rotation": {
                        "roll": -0.0003967239463236183,
                        "pitch": 0.39393797516822815,
                        "yaw": 9.18383502960205
                    }
                },
                "velocity": {
                    "x": 7.933125972747803,
                    "y": 1.2845743894577026,
                    "z": 0.05376921594142914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045966148376465,
                "transform": {
                    "location": {
                        "x": 2885.044921875,
                        "y": 4251.7822265625,
                        "z": 360.41339111328125
                    },
                    "rotation": {
                        "roll": -0.00042724033119156957,
                        "pitch": 0.39274951815605164,
                        "yaw": 9.179699897766113
                    }
                },
                "velocity": {
                    "x": 7.942396640777588,
                    "y": 1.2857025861740112,
                    "z": 0.053564250469207764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2935.60986328125,
                        "y": 4259.8681640625,
                        "z": 360.77447509765625
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2935.02490234375,
                        "y": 4263.06689453125,
                        "z": 360.7740783691406
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2936.198486328125,
                        "y": 4253.3740234375,
                        "z": 360.7712097167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.42224228382110596,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.448995113372803,
                "transform": {
                    "location": {
                        "x": 2881.177978515625,
                        "y": 4247.6630859375,
                        "z": 360.3785400390625
                    },
                    "rotation": {
                        "roll": 0.00018197754980064929,
                        "pitch": -0.3656063377857208,
                        "yaw": -170.83230590820312
                    }
                },
                "velocity": {
                    "x": -7.3533806800842285,
                    "y": -1.1886262893676758,
                    "z": -0.04983016476035118
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.46186065673828,
                "transform": {
                    "location": {
                        "x": 2920.925048828125,
                        "y": 4250.8662109375,
                        "z": 360.6482238769531
                    },
                    "rotation": {
                        "roll": -0.010650631971657276,
                        "pitch": -0.4756133556365967,
                        "yaw": -170.36953735351562
                    }
                },
                "velocity": {
                    "x": -16.231962203979492,
                    "y": -2.739046812057495,
                    "z": -0.11784663051366806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.42228490114212036,
                "transform": {
                    "location": {
                        "x": 2864.824951171875,
                        "y": 4245.0185546875,
                        "z": 360.2679748535156
                    },
                    "rotation": {
                        "roll": -0.01138305850327015,
                        "pitch": -1.1047283411026,
                        "yaw": -170.56005859375
                    }
                },
                "velocity": {
                    "x": -0.4166940450668335,
                    "y": -0.06846050918102264,
                    "z": -0.0019364642212167382
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3701399266719818,
                "transform": {
                    "location": {
                        "x": 2853.76025390625,
                        "y": 4239.9326171875,
                        "z": 360.2141418457031
                    },
                    "rotation": {
                        "roll": 0.0011513022473081946,
                        "pitch": -0.42593055963516235,
                        "yaw": -170.8526611328125
                    }
                },
                "velocity": {
                    "x": -0.3655320405960083,
                    "y": -0.058178212493658066,
                    "z": -0.002275609876960516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006960576283745468,
                "transform": {
                    "location": {
                        "x": 2852.950439453125,
                        "y": 4243.10498046875,
                        "z": 360.1669921875
                    },
                    "rotation": {
                        "roll": -0.007720943074673414,
                        "pitch": -0.4530942440032959,
                        "yaw": -169.83921813964844
                    }
                },
                "velocity": {
                    "x": -1.4077127161726821e-06,
                    "y": 2.1931900846539065e-06,
                    "z": 0.000696052797138691
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00028875426505692303,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.00170898565556854,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.784423828125
                    }
                },
                "velocity": {
                    "x": 7.870569788792636e-06,
                    "y": -8.989494381239638e-05,
                    "z": 0.0002742917858995497
                },
                "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": 0.0032881456427276134,
        "expert_target_speed": 3.124457055460291,
        "target_point": [
            13.810039139084273,
            0.036299914299005476
        ],
        "target_point_next": [
            13.810039139084273,
            0.036299914299005476
        ]
    },
    "690": {
        "acceleration": [
            2.9677677154541016,
            0.49617528915405273,
            0.02882927656173706
        ],
        "angular_velocity": [
            0.13659144937992096,
            -1.0652207136154175,
            -0.0460507869720459
        ],
        "forward_vector": [
            -0.9878653883934021,
            -0.15511266887187958,
            -0.00787440687417984
        ],
        "right_vector": [
            0.15511977672576904,
            -0.9878956079483032,
            -0.0002969679771922529
        ],
        "location": [
            2861.375,
            4241.27001953125,
            360.23394775390625
        ],
        "rotation": [
            0.01701553910970688,
            -0.45117494463920593,
            -171.07638549804688
        ],
        "velocity": [
            -3.943934917449951,
            -0.6082007884979248,
            -0.02912326715886593
        ],
        "speed": 3.9905552035036993,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.929104804992676,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.56494140625,
                4239.9013671875,
                360.21209716796875
            ],
            "velocity": [
                -1.1869004964828491,
                -0.19114720821380615,
                -0.008855610154569149
            ],
            "speed_kmh": 4.32801526268696,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036706924438477,
                "transform": {
                    "location": {
                        "x": 2887.048583984375,
                        "y": 4255.39794921875,
                        "z": 360.432373046875
                    },
                    "rotation": {
                        "roll": -3.051979001611471e-05,
                        "pitch": 0.3929749131202698,
                        "yaw": 9.215006828308105
                    }
                },
                "velocity": {
                    "x": 7.933119297027588,
                    "y": 1.2850842475891113,
                    "z": 0.05327940732240677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045896530151367,
                "transform": {
                    "location": {
                        "x": 2887.030517578125,
                        "y": 4252.1044921875,
                        "z": 360.4270324707031
                    },
                    "rotation": {
                        "roll": 0.00045883070561103523,
                        "pitch": 0.3924216628074646,
                        "yaw": 9.218645095825195
                    }
                },
                "velocity": {
                    "x": 7.942224025726318,
                    "y": 1.2863540649414062,
                    "z": 0.05322571471333504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3850,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.666259765625,
                        "y": 4260.19921875,
                        "z": 360.7898254394531
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3851,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2937.08154296875,
                        "y": 4263.3974609375,
                        "z": 360.7893981933594
                    },
                    "rotation": {
                        "roll": 3.335143716753919e-09,
                        "pitch": 0.42224228382110596,
                        "yaw": 9.191605567932129
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2932.784423828125,
                        "y": 4252.82177734375,
                        "z": 360.745849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4188545048236847,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.123108386993408,
                "transform": {
                    "location": {
                        "x": 2879.341796875,
                        "y": 4247.36669921875,
                        "z": 360.3660583496094
                    },
                    "rotation": {
                        "roll": 0.0003201794170308858,
                        "pitch": -0.39574795961380005,
                        "yaw": -170.82211303710938
                    }
                },
                "velocity": {
                    "x": -7.031561851501465,
                    "y": -1.1372640132904053,
                    "z": -0.049381840974092484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.782111167907715,
                "transform": {
                    "location": {
                        "x": 2917.240478515625,
                        "y": 4250.24755859375,
                        "z": 360.6222229003906
                    },
                    "rotation": {
                        "roll": -0.0057678245939314365,
                        "pitch": -0.5584089159965515,
                        "yaw": -169.82066345214844
                    }
                },
                "velocity": {
                    "x": -13.589736938476562,
                    "y": -2.292573928833008,
                    "z": -0.09871959686279297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.899341344833374,
                "transform": {
                    "location": {
                        "x": 2864.5166015625,
                        "y": 4244.96826171875,
                        "z": 360.2660217285156
                    },
                    "rotation": {
                        "roll": -0.003601077012717724,
                        "pitch": -0.34850355982780457,
                        "yaw": -170.57135009765625
                    }
                },
                "velocity": {
                    "x": -1.8743401765823364,
                    "y": -0.30687087774276733,
                    "z": -0.0132938576862216
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2022265195846558,
                "transform": {
                    "location": {
                        "x": 2853.56494140625,
                        "y": 4239.9013671875,
                        "z": 360.21209716796875
                    },
                    "rotation": {
                        "roll": 5.500946645042859e-05,
                        "pitch": -0.3619658648967743,
                        "yaw": -170.83152770996094
                    }
                },
                "velocity": {
                    "x": -1.1869004964828491,
                    "y": -0.19114720821380615,
                    "z": -0.008855610154569149
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010185946011915803,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007812498603016138,
                        "pitch": -0.44000759720802307,
                        "yaw": -169.83921813964844
                    }
                },
                "velocity": {
                    "x": -2.9961987820570357e-05,
                    "y": 0.0001342240284429863,
                    "z": 0.00100926763843745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003608015540521592,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0022277820389717817,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.7844696044922
                    }
                },
                "velocity": {
                    "x": -4.742979945149273e-05,
                    "y": 2.9692155294469558e-05,
                    "z": 0.00035643589217215776
                },
                "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": 0.01868050917983055,
        "expert_target_speed": 1.9272152377491305,
        "target_point": [
            12.747314641150291,
            0.0629805099771128
        ],
        "target_point_next": [
            12.747314641150291,
            0.0629805099771128
        ]
    },
    "695": {
        "acceleration": [
            3.0103683471679688,
            0.4793429374694824,
            0.017020218074321747
        ],
        "angular_velocity": [
            0.08248258382081985,
            -0.48263683915138245,
            -0.9935277104377747
        ],
        "forward_vector": [
            -0.9881073832511902,
            -0.15332916378974915,
            -0.011574485339224339
        ],
        "right_vector": [
            0.1533418893814087,
            -0.988173246383667,
            -0.00021447915059980005
        ],
        "location": [
            2860.493408203125,
            4241.13427734375,
            360.2282409667969
        ],
        "rotation": [
            0.01228957436978817,
            -0.6631839871406555,
            -171.17950439453125
        ],
        "velocity": [
            -3.164410352706909,
            -0.4820476770401001,
            -0.024019412696361542
        ],
        "speed": 3.2009159381743255,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.260932445526123,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.343994140625,
                4239.86669921875,
                360.2119140625
            ],
            "velocity": [
                -0.0006596738239750266,
                0.00015232249279506505,
                0.00021513366664294153
            ],
            "speed_kmh": 0.002557404603739103,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035161972045898,
                "transform": {
                    "location": {
                        "x": 2889.031494140625,
                        "y": 4255.71875,
                        "z": 360.4459533691406
                    },
                    "rotation": {
                        "roll": -0.00015258560597430915,
                        "pitch": 0.39329594373703003,
                        "yaw": 9.190449714660645
                    }
                },
                "velocity": {
                    "x": 7.931525230407715,
                    "y": 1.2852520942687988,
                    "z": 0.053499314934015274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046455383300781,
                "transform": {
                    "location": {
                        "x": 2889.01611328125,
                        "y": 4252.42529296875,
                        "z": 360.44061279296875
                    },
                    "rotation": {
                        "roll": -9.1556015831884e-05,
                        "pitch": 0.39185476303100586,
                        "yaw": 9.176154136657715
                    }
                },
                "velocity": {
                    "x": 7.943062782287598,
                    "y": 1.2846410274505615,
                    "z": 0.0538424476981163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006074510049074888,
                "transform": {
                    "location": {
                        "x": 2929.18115234375,
                        "y": 4252.23876953125,
                        "z": 360.7193603515625
                    },
                    "rotation": {
                        "roll": 5.074416912975721e-05,
                        "pitch": -0.41522082686424255,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": -8.892051846487448e-05,
                    "y": 3.272531466791406e-05,
                    "z": 0.006073771044611931
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.971806764602661,
                "transform": {
                    "location": {
                        "x": 2877.864990234375,
                        "y": 4247.12744140625,
                        "z": 360.3561096191406
                    },
                    "rotation": {
                        "roll": -0.0006713875336572528,
                        "pitch": -0.4568713307380676,
                        "yaw": -170.8119659423828
                    }
                },
                "velocity": {
                    "x": -3.9206457138061523,
                    "y": -0.6346970796585083,
                    "z": -0.030748924240469933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.570717811584473,
                "transform": {
                    "location": {
                        "x": 2913.975830078125,
                        "y": 4249.701171875,
                        "z": 360.5979309082031
                    },
                    "rotation": {
                        "roll": -0.005889893975108862,
                        "pitch": -0.4519672393798828,
                        "yaw": -169.7676239013672
                    }
                },
                "velocity": {
                    "x": -13.384319305419922,
                    "y": -2.2394607067108154,
                    "z": -0.09589117765426636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.186952590942383,
                "transform": {
                    "location": {
                        "x": 2863.948974609375,
                        "y": 4244.875,
                        "z": 360.2618408203125
                    },
                    "rotation": {
                        "roll": -0.0035400388296693563,
                        "pitch": -0.34792980551719666,
                        "yaw": -170.54226684570312
                    }
                },
                "velocity": {
                    "x": -2.1580989360809326,
                    "y": -0.3536609709262848,
                    "z": -0.017162922769784927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007103902171365917,
                "transform": {
                    "location": {
                        "x": 2853.343994140625,
                        "y": 4239.86669921875,
                        "z": 360.2119140625
                    },
                    "rotation": {
                        "roll": -0.003112794365733862,
                        "pitch": -0.5285677909851074,
                        "yaw": -170.7191162109375
                    }
                },
                "velocity": {
                    "x": -0.0006596738239750266,
                    "y": 0.00015232249279506505,
                    "z": 0.00021513366664294153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004951738519594073,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006835940293967724,
                        "pitch": -0.43674275279045105,
                        "yaw": -169.8392333984375
                    }
                },
                "velocity": {
                    "x": -1.8828211977961473e-05,
                    "y": -2.9374193672992988e-06,
                    "z": 0.0004948070272803307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009183793445117772,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0017700223252177238,
                        "pitch": -0.4429650604724884,
                        "yaw": -170.7845001220703
                    }
                },
                "velocity": {
                    "x": -2.4157463485607877e-05,
                    "y": 2.488764039298985e-06,
                    "z": 0.0009180582128465176
                },
                "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": 0.029041236266493797,
        "expert_target_speed": 0.0,
        "target_point": [
            11.85520031210188,
            0.08696628050323163
        ],
        "target_point_next": [
            11.85520031210188,
            0.08696628050323163
        ]
    },
    "700": {
        "acceleration": [
            2.570004463195801,
            0.4037994146347046,
            0.01813828945159912
        ],
        "angular_velocity": [
            0.0018045204924419522,
            -0.04281632602214813,
            0.5771903395652771
        ],
        "forward_vector": [
            -0.9882857203483582,
            -0.15209290385246277,
            -0.012613438069820404
        ],
        "right_vector": [
            0.15210717916488647,
            -0.9883639812469482,
            -0.000174921631696634
        ],
        "location": [
            2859.794189453125,
            4241.02783203125,
            360.2232360839844
        ],
        "rotation": [
            0.010023069567978382,
            -0.7227159142494202,
            -171.25106811523438
        ],
        "velocity": [
            -2.4788718223571777,
            -0.37384331226348877,
            -0.019713597372174263
        ],
        "speed": 2.5069033355517583,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.6371941566467285,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.26171875,
                4239.853515625,
                360.2109375
            ],
            "velocity": [
                -0.1457112729549408,
                -0.023770982399582863,
                -0.0015529441880062222
            ],
            "speed_kmh": 0.5315244417016955,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036355018615723,
                "transform": {
                    "location": {
                        "x": 2891.0146484375,
                        "y": 4256.041015625,
                        "z": 360.4596252441406
                    },
                    "rotation": {
                        "roll": -0.0007934545283205807,
                        "pitch": 0.3935827910900116,
                        "yaw": 9.21872329711914
                    }
                },
                "velocity": {
                    "x": 7.932681083679199,
                    "y": 1.28559410572052,
                    "z": 0.053156688809394836
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045269012451172,
                "transform": {
                    "location": {
                        "x": 2891.001708984375,
                        "y": 4252.74755859375,
                        "z": 360.45428466796875
                    },
                    "rotation": {
                        "roll": -0.0005187963251955807,
                        "pitch": 0.39189574122428894,
                        "yaw": 9.210652351379395
                    }
                },
                "velocity": {
                    "x": 7.941640377044678,
                    "y": 1.2860026359558105,
                    "z": 0.053823623806238174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.013893309980630875,
                "transform": {
                    "location": {
                        "x": 2927.947021484375,
                        "y": 4252.0390625,
                        "z": 360.711669921875
                    },
                    "rotation": {
                        "roll": -0.00015258268103934824,
                        "pitch": -0.4150978922843933,
                        "yaw": -170.80838012695312
                    }
                },
                "velocity": {
                    "x": -0.0001329141086898744,
                    "y": -1.1687389815051574e-05,
                    "z": 0.01389266923069954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2597028613090515,
                "transform": {
                    "location": {
                        "x": 2877.497802734375,
                        "y": 4247.06787109375,
                        "z": 360.3537292480469
                    },
                    "rotation": {
                        "roll": 0.0011991664068773389,
                        "pitch": -0.4948130249977112,
                        "yaw": -170.79135131835938
                    }
                },
                "velocity": {
                    "x": -0.2563837468624115,
                    "y": -0.041374433785676956,
                    "z": -0.0010463427752256393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.057103157043457,
                "transform": {
                    "location": {
                        "x": 2910.418701171875,
                        "y": 4249.10302734375,
                        "z": 360.5717468261719
                    },
                    "rotation": {
                        "roll": 0.008649454452097416,
                        "pitch": -0.3350276052951813,
                        "yaw": -170.7650909423828
                    }
                },
                "velocity": {
                    "x": -14.858656883239746,
                    "y": -2.4342939853668213,
                    "z": -0.10445842146873474
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5890812277793884,
                "transform": {
                    "location": {
                        "x": 2863.81201171875,
                        "y": 4244.85302734375,
                        "z": 360.2606506347656
                    },
                    "rotation": {
                        "roll": -0.00604248745366931,
                        "pitch": -0.6092528700828552,
                        "yaw": -170.45774841308594
                    }
                },
                "velocity": {
                    "x": -0.5809810161590576,
                    "y": -0.09724806249141693,
                    "z": -0.0045359134674072266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14764568209648132,
                "transform": {
                    "location": {
                        "x": 2853.26171875,
                        "y": 4239.853515625,
                        "z": 360.2109375
                    },
                    "rotation": {
                        "roll": -0.00244140625,
                        "pitch": -0.4846770167350769,
                        "yaw": -170.70956420898438
                    }
                },
                "velocity": {
                    "x": -0.1457112729549408,
                    "y": -0.023770982399582863,
                    "z": -0.0015529441880062222
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010961423395201564,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006958009675145149,
                        "pitch": -0.43640124797821045,
                        "yaw": -169.8392333984375
                    }
                },
                "velocity": {
                    "x": -2.8417854991857894e-05,
                    "y": -7.092310170264682e-06,
                    "z": 0.0010957509512081742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00044000690104439855,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.100341796875
                    },
                    "rotation": {
                        "roll": -0.0023498518858104944,
                        "pitch": -0.4432655870914459,
                        "yaw": -170.78453063964844
                    }
                },
                "velocity": {
                    "x": -5.0769820518326014e-05,
                    "y": 4.097055352758616e-06,
                    "z": 0.0004370488750282675
                },
                "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": 0.03544945269823074,
        "expert_target_speed": 0.0,
        "target_point": [
            11.147808669386192,
            0.10292489255889592
        ],
        "target_point_next": [
            11.147808669386192,
            0.10292489255889592
        ]
    },
    "705": {
        "acceleration": [
            2.156660556793213,
            0.33167898654937744,
            0.017376728355884552
        ],
        "angular_velocity": [
            -0.04541395977139473,
            0.10179583728313446,
            -1.2397385835647583
        ],
        "forward_vector": [
            -0.9884767532348633,
            -0.15086369216442108,
            -0.012405195273458958
        ],
        "right_vector": [
            0.15087677538394928,
            -0.9885525703430176,
            -0.0001199789039674215
        ],
        "location": [
            2859.251708984375,
            4240.9462890625,
            360.2189636230469
        ],
        "rotation": [
            0.006874813698232174,
            -0.7107836008071899,
            -171.3223419189453
        ],
        "velocity": [
            -1.9003652334213257,
            -0.2843901813030243,
            -0.015915021300315857
        ],
        "speed": 1.9215269437658313,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 6.130589008331299,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.220458984375,
                4239.84716796875,
                360.2102966308594
            ],
            "velocity": [
                -0.00022283523867372423,
                -0.00011755269952118397,
                0.00027673316071741283
            ],
            "speed_kmh": 0.0013472632564134788,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035530090332031,
                "transform": {
                    "location": {
                        "x": 2892.997802734375,
                        "y": 4256.36181640625,
                        "z": 360.4732360839844
                    },
                    "rotation": {
                        "roll": -0.0005798293277621269,
                        "pitch": 0.39315250515937805,
                        "yaw": 9.185874938964844
                    }
                },
                "velocity": {
                    "x": 7.93200159072876,
                    "y": 1.28459632396698,
                    "z": 0.05389617756009102
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045836448669434,
                "transform": {
                    "location": {
                        "x": 2892.987548828125,
                        "y": 4253.06982421875,
                        "z": 360.46795654296875
                    },
                    "rotation": {
                        "roll": 0.00043831628863699734,
                        "pitch": 0.39237385988235474,
                        "yaw": 9.181768417358398
                    }
                },
                "velocity": {
                    "x": 7.942323207855225,
                    "y": 1.2853639125823975,
                    "z": 0.053194139152765274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005316347815096378,
                "transform": {
                    "location": {
                        "x": 2927.947021484375,
                        "y": 4252.0390625,
                        "z": 360.71429443359375
                    },
                    "rotation": {
                        "roll": -0.0008850099984556437,
                        "pitch": -0.4187588691711426,
                        "yaw": -170.8083953857422
                    }
                },
                "velocity": {
                    "x": -7.05140846548602e-05,
                    "y": -7.512457614211598e-06,
                    "z": 0.005315874703228474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0792444944381714,
                "transform": {
                    "location": {
                        "x": 2877.32421875,
                        "y": 4247.0400390625,
                        "z": 360.3517761230469
                    },
                    "rotation": {
                        "roll": 0.0005875503411516547,
                        "pitch": -0.3957206606864929,
                        "yaw": -170.81349182128906
                    }
                },
                "velocity": {
                    "x": -1.0654432773590088,
                    "y": -0.17189760506153107,
                    "z": -0.007098846137523651
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 15.807291984558105,
                "transform": {
                    "location": {
                        "x": 2906.608154296875,
                        "y": 4248.48291015625,
                        "z": 360.5449523925781
                    },
                    "rotation": {
                        "roll": 0.006988876033574343,
                        "pitch": -0.34963735938072205,
                        "yaw": -170.87391662597656
                    }
                },
                "velocity": {
                    "x": -15.604263305664062,
                    "y": -2.52297306060791,
                    "z": -0.1098506897687912
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.85910165309906,
                "transform": {
                    "location": {
                        "x": 2863.4931640625,
                        "y": 4244.80126953125,
                        "z": 360.2584228515625
                    },
                    "rotation": {
                        "roll": 0.0006618016632273793,
                        "pitch": -0.26409608125686646,
                        "yaw": -170.53651428222656
                    }
                },
                "velocity": {
                    "x": -1.8347595930099487,
                    "y": -0.29954954981803894,
                    "z": -0.013643274083733559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037423978210426867,
                "transform": {
                    "location": {
                        "x": 2853.220458984375,
                        "y": 4239.84716796875,
                        "z": 360.2102966308594
                    },
                    "rotation": {
                        "roll": -0.00048828075523488224,
                        "pitch": -0.4582851827144623,
                        "yaw": -170.7300567626953
                    }
                },
                "velocity": {
                    "x": -0.00022283523867372423,
                    "y": -0.00011755269952118397,
                    "z": 0.00027673316071741283
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013341307640075684,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006835936568677425,
                        "pitch": -0.43591630458831787,
                        "yaw": -169.83924865722656
                    }
                },
                "velocity": {
                    "x": -1.407213494530879e-05,
                    "y": -2.787362245726399e-05,
                    "z": 0.0013337653363123536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001281167846173048,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0015563990455120802,
                        "pitch": -0.44277381896972656,
                        "yaw": -170.7845458984375
                    }
                },
                "velocity": {
                    "x": -2.533346378186252e-05,
                    "y": -5.8762827393366024e-05,
                    "z": 0.0012795687653124332
                },
                "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": 0.0441494956612587,
        "expert_target_speed": 0.0,
        "target_point": [
            10.59909864548224,
            0.11802568428104365
        ],
        "target_point_next": [
            10.59909864548224,
            0.11802568428104365
        ]
    },
    "710": {
        "acceleration": [
            11.057804107666016,
            1.5554171800613403,
            0.07662873715162277
        ],
        "angular_velocity": [
            0.3145163059234619,
            -2.827366352081299,
            -0.00017827506235335022
        ],
        "forward_vector": [
            -0.9883036017417908,
            -0.1514521688222885,
            -0.017838364467024803
        ],
        "right_vector": [
            0.15147711336612701,
            -0.9884607791900635,
            -4.739756332128309e-05
        ],
        "location": [
            2858.9345703125,
            4240.8994140625,
            360.21771240234375
        ],
        "rotation": [
            0.0027161126490682364,
            -1.022117257118225,
            -171.28750610351562
        ],
        "velocity": [
            -0.008996610529720783,
            -0.0003674018371384591,
            -0.0006056475103832781
        ],
        "speed": 0.009004109347037917,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.810433387756348,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101745605469
            ],
            "velocity": [
                7.04249760019593e-05,
                -9.283937106374651e-05,
                0.0003823304723482579
            ],
            "speed_kmh": 0.0014388989517369105,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035531997680664,
                "transform": {
                    "location": {
                        "x": 2894.98046875,
                        "y": 4256.681640625,
                        "z": 360.4869079589844
                    },
                    "rotation": {
                        "roll": 0.0010223047574982047,
                        "pitch": 0.39530399441719055,
                        "yaw": 9.20664119720459
                    }
                },
                "velocity": {
                    "x": 7.932119369506836,
                    "y": 1.283845067024231,
                    "z": 0.054724328219890594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04622745513916,
                "transform": {
                    "location": {
                        "x": 2894.97314453125,
                        "y": 4253.39013671875,
                        "z": 360.48162841796875
                    },
                    "rotation": {
                        "roll": 0.00040696613723412156,
                        "pitch": 0.3936920762062073,
                        "yaw": 9.203490257263184
                    }
                },
                "velocity": {
                    "x": 7.942883014678955,
                    "y": 1.2843459844589233,
                    "z": 0.05334244668483734
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0022407053038477898,
                "transform": {
                    "location": {
                        "x": 2927.947021484375,
                        "y": 4252.0390625,
                        "z": 360.71435546875
                    },
                    "rotation": {
                        "roll": -0.0010070796124637127,
                        "pitch": -0.4197424352169037,
                        "yaw": -170.80841064453125
                    }
                },
                "velocity": {
                    "x": -9.257271813112311e-06,
                    "y": 5.480256731971167e-05,
                    "z": -0.0022400158923119307
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8635103702545166,
                "transform": {
                    "location": {
                        "x": 2876.95556640625,
                        "y": 4246.98046875,
                        "z": 360.3490905761719
                    },
                    "rotation": {
                        "roll": 3.335125953185525e-09,
                        "pitch": -0.37805095314979553,
                        "yaw": -170.7738037109375
                    }
                },
                "velocity": {
                    "x": -1.8393961191177368,
                    "y": -0.2985641658306122,
                    "z": -0.012333564460277557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 17.18054962158203,
                "transform": {
                    "location": {
                        "x": 2902.5,
                        "y": 4247.81982421875,
                        "z": 360.5158386230469
                    },
                    "rotation": {
                        "roll": 0.0018537265714257956,
                        "pitch": -0.31164786219596863,
                        "yaw": -170.82373046875
                    }
                },
                "velocity": {
                    "x": -16.960378646850586,
                    "y": -2.73915958404541,
                    "z": -0.11765418946743011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4526365995407104,
                "transform": {
                    "location": {
                        "x": 2862.95751953125,
                        "y": 4244.7138671875,
                        "z": 360.25439453125
                    },
                    "rotation": {
                        "roll": -0.0007019024342298508,
                        "pitch": -0.40072035789489746,
                        "yaw": -170.574462890625
                    }
                },
                "velocity": {
                    "x": -1.4337496757507324,
                    "y": -0.23318737745285034,
                    "z": -0.011773795820772648
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003996941668447107,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101745605469
                    },
                    "rotation": {
                        "roll": 0.00032771562109701335,
                        "pitch": -0.44629135727882385,
                        "yaw": -170.7300567626953
                    }
                },
                "velocity": {
                    "x": 7.04249760019593e-05,
                    "y": -9.283937106374651e-05,
                    "z": 0.0003823304723482579
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007964633987285197,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.00796508975327015,
                        "pitch": -0.43487128615379333,
                        "yaw": -169.8393096923828
                    }
                },
                "velocity": {
                    "x": -2.060689075733535e-05,
                    "y": -3.668433009806904e-06,
                    "z": 0.0007961883093230426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006352734635584056,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0017089889151975513,
                        "pitch": -0.4424459636211395,
                        "yaw": -170.78456115722656
                    }
                },
                "velocity": {
                    "x": -8.80196694197366e-06,
                    "y": 2.463715100020636e-05,
                    "z": 0.0006347345188260078
                },
                "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": 0.04563713073730469,
        "expert_target_speed": 0.0,
        "target_point": [
            10.278588817603776,
            0.11328674593509147
        ],
        "target_point_next": [
            10.278588817603776,
            0.11328674593509147
        ]
    },
    "715": {
        "acceleration": [
            0.13337165117263794,
            0.01109713688492775,
            -0.009699058718979359
        ],
        "angular_velocity": [
            -0.22991792857646942,
            1.4290744066238403,
            0.00487567437812686
        ],
        "forward_vector": [
            -0.9883618354797363,
            -0.15151053667068481,
            -0.013620431534945965
        ],
        "right_vector": [
            0.15152493119239807,
            -0.9884534478187561,
            -2.546084397181403e-05
        ],
        "location": [
            2858.92626953125,
            4240.89794921875,
            360.216796875
        ],
        "rotation": [
            0.0014589341590180993,
            -0.7804173827171326,
            -171.2847137451172
        ],
        "velocity": [
            -0.05130482092499733,
            -0.007981987670063972,
            -0.0015933418180793524
        ],
        "speed": 0.051922025936119796,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.802003860473633,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.21014404296875
            ],
            "velocity": [
                2.067089099000441e-06,
                -5.535516902455129e-05,
                -6.04213637416251e-05
            ],
            "speed_kmh": 0.00029509480838799915,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036700248718262,
                "transform": {
                    "location": {
                        "x": 2896.964111328125,
                        "y": 4257.00244140625,
                        "z": 360.5005798339844
                    },
                    "rotation": {
                        "roll": 0.0007295469404198229,
                        "pitch": 0.3954952657222748,
                        "yaw": 9.183032035827637
                    }
                },
                "velocity": {
                    "x": 7.933326244354248,
                    "y": 1.2836447954177856,
                    "z": 0.05608981102705002
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045964241027832,
                "transform": {
                    "location": {
                        "x": 2896.958251953125,
                        "y": 4253.71044921875,
                        "z": 360.49530029296875
                    },
                    "rotation": {
                        "roll": -0.0003967273223679513,
                        "pitch": 0.3948327302932739,
                        "yaw": 9.170251846313477
                    }
                },
                "velocity": {
                    "x": 7.942557334899902,
                    "y": 1.2846605777740479,
                    "z": 0.05439244955778122
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1215447261929512,
                "transform": {
                    "location": {
                        "x": 2927.929931640625,
                        "y": 4252.03564453125,
                        "z": 360.7136535644531
                    },
                    "rotation": {
                        "roll": -0.001251225476153195,
                        "pitch": -0.39901962876319885,
                        "yaw": -170.8026885986328
                    }
                },
                "velocity": {
                    "x": -0.11959084868431091,
                    "y": -0.02161753550171852,
                    "z": -0.0019572353921830654
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7223876118659973,
                "transform": {
                    "location": {
                        "x": 2876.489990234375,
                        "y": 4246.90576171875,
                        "z": 360.34613037109375
                    },
                    "rotation": {
                        "roll": -0.0016479480545967817,
                        "pitch": -0.4067035913467407,
                        "yaw": -170.61215209960938
                    }
                },
                "velocity": {
                    "x": -0.7121384143829346,
                    "y": -0.12114940583705902,
                    "z": -0.005058593582361937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 16.067962646484375,
                "transform": {
                    "location": {
                        "x": 2898.366455078125,
                        "y": 4247.15185546875,
                        "z": 360.4880065917969
                    },
                    "rotation": {
                        "roll": 0.00083307916065678,
                        "pitch": -0.425165593624115,
                        "yaw": -170.81082153320312
                    }
                },
                "velocity": {
                    "x": -15.861589431762695,
                    "y": -2.564601421356201,
                    "z": -0.11044462025165558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003769372124224901,
                "transform": {
                    "location": {
                        "x": 2862.92626953125,
                        "y": 4244.70849609375,
                        "z": 360.25408935546875
                    },
                    "rotation": {
                        "roll": -0.0039978050626814365,
                        "pitch": -0.6410200595855713,
                        "yaw": -170.5723876953125
                    }
                },
                "velocity": {
                    "x": 0.003726118942722678,
                    "y": 0.0005692907143384218,
                    "z": -1.0544510587351397e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.197077841032296e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.21014404296875
                    },
                    "rotation": {
                        "roll": 0.0006429804489016533,
                        "pitch": -0.4397890269756317,
                        "yaw": -170.7300567626953
                    }
                },
                "velocity": {
                    "x": 2.067089099000441e-06,
                    "y": -5.535516902455129e-05,
                    "z": -6.04213637416251e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007038532057777047,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.00799560360610485,
                        "pitch": -0.4349942207336426,
                        "yaw": -169.83937072753906
                    }
                },
                "velocity": {
                    "x": -1.769468144630082e-05,
                    "y": -1.847390922193881e-05,
                    "z": 0.000703388184774667
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.262250387109816e-05,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0010681191924959421,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.7845916748047
                    }
                },
                "velocity": {
                    "x": -5.193702600081451e-05,
                    "y": 5.569198037846945e-05,
                    "z": -5.272453563520685e-05
                },
                "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": 0.04753812402486801,
        "expert_target_speed": 0.0,
        "target_point": [
            10.270167365676636,
            0.11260156265234067
        ],
        "target_point_next": [
            10.270167365676636,
            0.11260156265234067
        ]
    },
    "720": {
        "acceleration": [
            -0.2628365755081177,
            -0.02573614940047264,
            -0.011553002521395683
        ],
        "angular_velocity": [
            -0.06846478581428528,
            0.5876260995864868,
            -0.031750451773405075
        ],
        "forward_vector": [
            -0.9884174466133118,
            -0.1514609456062317,
            -0.00951693020761013
        ],
        "right_vector": [
            0.15146832168102264,
            -0.9884621500968933,
            -5.622260141535662e-05
        ],
        "location": [
            2858.908447265625,
            4240.8955078125,
            360.2158203125
        ],
        "rotation": [
            0.003221463644877076,
            -0.5452881455421448,
            -171.2880096435547
        ],
        "velocity": [
            -0.07464071363210678,
            -0.010877296328544617,
            -0.0018152141710743308
        ],
        "speed": 0.0754291171029407,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.784033298492432,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                8.890256140148267e-06,
                -3.821714562945999e-05,
                0.00027513463282957673
            ],
            "speed_kmh": 0.0010005063436146248,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035706520080566,
                "transform": {
                    "location": {
                        "x": 2898.947021484375,
                        "y": 4257.3232421875,
                        "z": 360.514404296875
                    },
                    "rotation": {
                        "roll": -0.0016479463083669543,
                        "pitch": 0.3984185755252838,
                        "yaw": 9.211965560913086
                    }
                },
                "velocity": {
                    "x": 7.931979179382324,
                    "y": 1.285735011100769,
                    "z": 0.056311026215553284
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046114921569824,
                "transform": {
                    "location": {
                        "x": 2898.9443359375,
                        "y": 4254.03076171875,
                        "z": 360.5090637207031
                    },
                    "rotation": {
                        "roll": -0.0003967273805756122,
                        "pitch": 0.39612361788749695,
                        "yaw": 9.20490837097168
                    }
                },
                "velocity": {
                    "x": 7.942756175994873,
                    "y": 1.2842992544174194,
                    "z": 0.0561993308365345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.191046953201294,
                "transform": {
                    "location": {
                        "x": 2927.747802734375,
                        "y": 4252.00439453125,
                        "z": 360.7110595703125
                    },
                    "rotation": {
                        "roll": -0.009246828965842724,
                        "pitch": -0.2346784621477127,
                        "yaw": -170.72552490234375
                    }
                },
                "velocity": {
                    "x": -1.1729094982147217,
                    "y": -0.20687389373779297,
                    "z": -0.008911551907658577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7125111222267151,
                "transform": {
                    "location": {
                        "x": 2876.39794921875,
                        "y": 4246.89111328125,
                        "z": 360.3454284667969
                    },
                    "rotation": {
                        "roll": -0.0007019027834758162,
                        "pitch": -0.4045999050140381,
                        "yaw": -170.5889434814453
                    }
                },
                "velocity": {
                    "x": -0.7034071087837219,
                    "y": -0.11344554275274277,
                    "z": -0.004545583855360746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 14.345338821411133,
                "transform": {
                    "location": {
                        "x": 2894.621826171875,
                        "y": 4246.54638671875,
                        "z": 360.4626159667969
                    },
                    "rotation": {
                        "roll": -0.00030517831328324974,
                        "pitch": -0.4853259027004242,
                        "yaw": -170.8085479736328
                    }
                },
                "velocity": {
                    "x": -14.160876274108887,
                    "y": -2.291034698486328,
                    "z": -0.09751775860786438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011060466058552265,
                "transform": {
                    "location": {
                        "x": 2862.925048828125,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.47329792380332947,
                        "yaw": -170.572509765625
                    }
                },
                "velocity": {
                    "x": 0.0010315198451280594,
                    "y": -6.103989289840683e-05,
                    "z": -0.0003944363270420581
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002779184142127633,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 0.0010119946673512459,
                        "pitch": -0.43749406933784485,
                        "yaw": -170.73007202148438
                    }
                },
                "velocity": {
                    "x": 8.890256140148267e-06,
                    "y": -3.821714562945999e-05,
                    "z": 0.00027513463282957673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021648808615282178,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.00799560360610485,
                        "pitch": -0.4349942207336426,
                        "yaw": -169.83937072753906
                    }
                },
                "velocity": {
                    "x": -1.728318602545187e-05,
                    "y": 6.122169907030184e-06,
                    "z": 0.00021571022807620466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00089699198724702,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": -0.4424459636211395,
                        "yaw": -170.78466796875
                    }
                },
                "velocity": {
                    "x": -1.9417255316511728e-05,
                    "y": 4.341706517152488e-05,
                    "z": 0.0008957301615737379
                },
                "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": 0.04592470824718475,
        "expert_target_speed": 0.0,
        "target_point": [
            10.252174475523905,
            0.11347548512279304
        ],
        "target_point_next": [
            10.252174475523905,
            0.11347548512279304
        ]
    },
    "725": {
        "acceleration": [
            0.1517637073993683,
            0.015480071306228638,
            -0.008212661370635033
        ],
        "angular_velocity": [
            -0.059556744992733,
            0.12056857347488403,
            -0.022166579961776733
        ],
        "forward_vector": [
            -0.9884376525878906,
            -0.15140783786773682,
            -0.00815990474075079
        ],
        "right_vector": [
            0.15141339600086212,
            -0.9884705543518066,
            -6.337375816656277e-05
        ],
        "location": [
            2858.888916015625,
            4240.89306640625,
            360.2153015136719
        ],
        "rotation": [
            0.003631169907748699,
            -0.46753326058387756,
            -171.2911834716797
        ],
        "velocity": [
            -0.07420635223388672,
            -0.011157061904668808,
            -0.0022172164171934128
        ],
        "speed": 0.07504040739631067,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.764382362365723,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.318447266385192e-05,
                -2.6977806555805728e-05,
                2.713417779887095e-05
            ],
            "speed_kmh": 0.00014569533891535338,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035481452941895,
                "transform": {
                    "location": {
                        "x": 2900.929931640625,
                        "y": 4257.64404296875,
                        "z": 360.5281982421875
                    },
                    "rotation": {
                        "roll": 8.323494694195688e-05,
                        "pitch": 0.39940211176872253,
                        "yaw": 9.187919616699219
                    }
                },
                "velocity": {
                    "x": 7.932059288024902,
                    "y": 1.283829927444458,
                    "z": 0.056485481560230255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045320510864258,
                "transform": {
                    "location": {
                        "x": 2900.929931640625,
                        "y": 4254.3515625,
                        "z": 360.52294921875
                    },
                    "rotation": {
                        "roll": -0.0005798363708890975,
                        "pitch": 0.3984527289867401,
                        "yaw": 9.176900863647461
                    }
                },
                "velocity": {
                    "x": 7.9417901039123535,
                    "y": 1.2852636575698853,
                    "z": 0.05705402418971062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2506184577941895,
                "transform": {
                    "location": {
                        "x": 2927.311767578125,
                        "y": 4251.92919921875,
                        "z": 360.70709228515625
                    },
                    "rotation": {
                        "roll": -0.012390135787427425,
                        "pitch": -0.1569235920906067,
                        "yaw": -170.52545166015625
                    }
                },
                "velocity": {
                    "x": -2.2158894538879395,
                    "y": -0.39352846145629883,
                    "z": -0.01589871384203434
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.573561191558838,
                "transform": {
                    "location": {
                        "x": 2876.11328125,
                        "y": 4246.8447265625,
                        "z": 360.34326171875
                    },
                    "rotation": {
                        "roll": -0.0014343276852741838,
                        "pitch": -0.37921208143234253,
                        "yaw": -170.60226440429688
                    }
                },
                "velocity": {
                    "x": -1.5533305406570435,
                    "y": -0.2512848377227783,
                    "z": -0.010719508863985538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 13.98701286315918,
                "transform": {
                    "location": {
                        "x": 2891.167236328125,
                        "y": 4245.98681640625,
                        "z": 360.4384765625
                    },
                    "rotation": {
                        "roll": 1.73160842678044e-05,
                        "pitch": -0.43090978264808655,
                        "yaw": -170.8022918701172
                    }
                },
                "velocity": {
                    "x": -13.806891441345215,
                    "y": -2.235447406768799,
                    "z": -0.09518415480852127
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00029257615096867085,
                "transform": {
                    "location": {
                        "x": 2862.925048828125,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.0014038151130080223,
                        "pitch": -0.43902403116226196,
                        "yaw": -170.572509765625
                    }
                },
                "velocity": {
                    "x": 0.00027349236188456416,
                    "y": 3.179371196893044e-05,
                    "z": -9.895394032355398e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.0470928070135415e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 5.193161632632837e-05,
                        "pitch": -0.4359777867794037,
                        "yaw": -170.7301025390625
                    }
                },
                "velocity": {
                    "x": -1.318447266385192e-05,
                    "y": -2.6977806555805728e-05,
                    "z": 2.713417779887095e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012839457485824823,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007202147971838713,
                        "pitch": -0.43526744842529297,
                        "yaw": -169.8394012451172
                    }
                },
                "velocity": {
                    "x": -2.324148954357952e-05,
                    "y": 1.7575053789187223e-05,
                    "z": 0.001283615012653172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003987938107457012,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.001831058762036264,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.78466796875
                    }
                },
                "velocity": {
                    "x": 2.1429061234812252e-05,
                    "y": -0.0001019462724798359,
                    "z": 0.000384947081329301
                },
                "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": 0.04817887768149376,
        "expert_target_speed": 0.0,
        "target_point": [
            10.232492456330384,
            0.11458659110364144
        ],
        "target_point_next": [
            10.232492456330384,
            0.11458659110364144
        ]
    },
    "730": {
        "acceleration": [
            -0.17422839999198914,
            -0.02709031105041504,
            6.065471097826958e-05
        ],
        "angular_velocity": [
            0.006686939857900143,
            0.10924149304628372,
            -0.005594595801085234
        ],
        "forward_vector": [
            -0.9884515404701233,
            -0.15133808553218842,
            -0.007765691261738539
        ],
        "right_vector": [
            0.1513432264328003,
            -0.9884812831878662,
            -7.577530777780339e-05
        ],
        "location": [
            2858.869384765625,
            4240.89013671875,
            360.2151184082031
        ],
        "rotation": [
            0.004341736435890198,
            -0.4449458122253418,
            -171.29525756835938
        ],
        "velocity": [
            -0.08366435766220093,
            -0.012736611068248749,
            -0.0019378280267119408
        ],
        "speed": 0.08462828135164105,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.744643688201904,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -2.3763179342495278e-05,
                -2.2527183318743482e-05,
                0.00017907287110574543
            ],
            "speed_kmh": 0.00065535086463242,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036526679992676,
                "transform": {
                    "location": {
                        "x": 2902.913330078125,
                        "y": 4257.96435546875,
                        "z": 360.5421447753906
                    },
                    "rotation": {
                        "roll": 0.00015317273209802806,
                        "pitch": 0.40113699436187744,
                        "yaw": 9.210227012634277
                    }
                },
                "velocity": {
                    "x": 7.9330267906188965,
                    "y": 1.2844281196594238,
                    "z": 0.05549808219075203
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04568099975586,
                "transform": {
                    "location": {
                        "x": 2902.915283203125,
                        "y": 4254.673828125,
                        "z": 360.5368347167969
                    },
                    "rotation": {
                        "roll": -0.0012817385140806437,
                        "pitch": 0.3983229398727417,
                        "yaw": 9.21756649017334
                    }
                },
                "velocity": {
                    "x": 7.941892147064209,
                    "y": 1.2869329452514648,
                    "z": 0.056051187217235565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.196800708770752,
                "transform": {
                    "location": {
                        "x": 2926.515869140625,
                        "y": 4251.791015625,
                        "z": 360.7001953125
                    },
                    "rotation": {
                        "roll": 0.0012210699496790767,
                        "pitch": -0.013824301771819592,
                        "yaw": -170.37001037597656
                    }
                },
                "velocity": {
                    "x": -4.1365966796875,
                    "y": -0.7076942920684814,
                    "z": -0.029512623324990273
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0803675651550293,
                "transform": {
                    "location": {
                        "x": 2875.63720703125,
                        "y": 4246.7666015625,
                        "z": 360.33990478515625
                    },
                    "rotation": {
                        "roll": -0.0005798350903205574,
                        "pitch": -0.37988144159317017,
                        "yaw": -170.649658203125
                    }
                },
                "velocity": {
                    "x": -2.0534887313842773,
                    "y": -0.33306819200515747,
                    "z": -0.013367366045713425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 12.789993286132812,
                "transform": {
                    "location": {
                        "x": 2887.84326171875,
                        "y": 4245.44873046875,
                        "z": 360.415771484375
                    },
                    "rotation": {
                        "roll": -0.00033569050719961524,
                        "pitch": -0.457977831363678,
                        "yaw": -170.80178833007812
                    }
                },
                "velocity": {
                    "x": -12.625250816345215,
                    "y": -2.044361114501953,
                    "z": -0.08698585629463196
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.0015869161579757929,
                        "pitch": -0.4290178120136261,
                        "yaw": -170.572509765625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018204189836978912,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 5.193161632632837e-05,
                        "pitch": -0.4359777867794037,
                        "yaw": -170.7301025390625
                    }
                },
                "velocity": {
                    "x": -2.3763179342495278e-05,
                    "y": -2.2527183318743482e-05,
                    "z": 0.00017907287110574543
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005095271626487374,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006103516556322575,
                        "pitch": -0.43517863750457764,
                        "yaw": -169.83941650390625
                    }
                },
                "velocity": {
                    "x": -1.0117963029188104e-05,
                    "y": -5.064188007963821e-05,
                    "z": 0.0005069032777100801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009752012556418777,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0015563956694677472,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.78468322753906
                    }
                },
                "velocity": {
                    "x": 1.1671930224110838e-05,
                    "y": -5.1143411837983876e-05,
                    "z": 0.0009737893124110997
                },
                "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": 0.05043422058224678,
        "expert_target_speed": 0.0,
        "target_point": [
            10.21273462601328,
            0.11537356812719923
        ],
        "target_point_next": [
            10.21273462601328,
            0.11537356812719923
        ]
    },
    "735": {
        "acceleration": [
            0.2068270742893219,
            0.024496912956237793,
            -0.0030885706655681133
        ],
        "angular_velocity": [
            0.06297703832387924,
            -0.01795070245862007,
            -0.014441500417888165
        ],
        "forward_vector": [
            -0.9884599447250366,
            -0.1512880027294159,
            -0.007677359972149134
        ],
        "right_vector": [
            0.15129302442073822,
            -0.9884889721870422,
            -7.437593740178272e-05
        ],
        "location": [
            2858.849853515625,
            4240.88720703125,
            360.2149658203125
        ],
        "rotation": [
            0.004261552821844816,
            -0.43988466262817383,
            -171.2981719970703
        ],
        "velocity": [
            -0.07161182910203934,
            -0.011042062193155289,
            -0.0017891025636345148
        ],
        "speed": 0.072458134152193,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.724905014038086,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -6.555095296789659e-06,
                -2.929895526904147e-05,
                0.0006541290786117315
            ],
            "speed_kmh": 0.0023573438005589547,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035256385803223,
                "transform": {
                    "location": {
                        "x": 2904.896240234375,
                        "y": 4258.28466796875,
                        "z": 360.5560607910156
                    },
                    "rotation": {
                        "roll": -3.3351361672373514e-09,
                        "pitch": 0.4039578437805176,
                        "yaw": 9.189068794250488
                    }
                },
                "velocity": {
                    "x": 7.931640625,
                    "y": 1.2850371599197388,
                    "z": 0.05567527562379837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045405387878418,
                "transform": {
                    "location": {
                        "x": 2904.90087890625,
                        "y": 4254.99560546875,
                        "z": 360.55078125
                    },
                    "rotation": {
                        "roll": 0.0007964869146235287,
                        "pitch": 0.4017380475997925,
                        "yaw": 9.183038711547852
                    }
                },
                "velocity": {
                    "x": 7.94171142578125,
                    "y": 1.2862870693206787,
                    "z": 0.05688881874084473
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.203091621398926,
                "transform": {
                    "location": {
                        "x": 2925.275146484375,
                        "y": 4251.5791015625,
                        "z": 360.69171142578125
                    },
                    "rotation": {
                        "roll": 0.0017500044777989388,
                        "pitch": -0.053343772888183594,
                        "yaw": -170.3490447998047
                    }
                },
                "velocity": {
                    "x": -5.128882884979248,
                    "y": -0.874866247177124,
                    "z": -0.03652525693178177
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.20112712681293488,
                "transform": {
                    "location": {
                        "x": 2875.404052734375,
                        "y": 4246.728515625,
                        "z": 360.3387756347656
                    },
                    "rotation": {
                        "roll": -0.0015563975321128964,
                        "pitch": -0.43575921654701233,
                        "yaw": -170.6648712158203
                    }
                },
                "velocity": {
                    "x": -0.1989431083202362,
                    "y": -0.029443511739373207,
                    "z": -0.0026162052527070045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.205710411071777,
                "transform": {
                    "location": {
                        "x": 2884.890625,
                        "y": 4244.970703125,
                        "z": 360.3956298828125
                    },
                    "rotation": {
                        "roll": 0.001657577813602984,
                        "pitch": -0.4861455261707306,
                        "yaw": -170.80345153808594
                    }
                },
                "velocity": {
                    "x": -11.061370849609375,
                    "y": -1.7911187410354614,
                    "z": -0.07696712017059326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.888986975653097e-05,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.0016174386255443096,
                        "pitch": -0.42565736174583435,
                        "yaw": -170.57252502441406
                    }
                },
                "velocity": {
                    "x": 1.7157419279101305e-05,
                    "y": -3.490032395347953e-05,
                    "z": -1.1083960771429702e-07
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006548177334479988,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -6.555095296789659e-06,
                    "y": -2.929895526904147e-05,
                    "z": 0.0006541290786117315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006683348678052425,
                        "pitch": -0.434850811958313,
                        "yaw": -169.83944702148438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003885040932800621,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0015563956694677472,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.78468322753906
                    }
                },
                "velocity": {
                    "x": -3.078065856243484e-05,
                    "y": -4.98052395414561e-05,
                    "z": 0.0003840669523924589
                },
                "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": 0.05089914798736572,
        "expert_target_speed": 0.0,
        "target_point": [
            10.192979059886802,
            0.11595360178530689
        ],
        "target_point_next": [
            10.192979059886802,
            0.11595360178530689
        ]
    },
    "740": {
        "acceleration": [
            -0.12533992528915405,
            -0.010898113250732422,
            -0.008912274613976479
        ],
        "angular_velocity": [
            -0.012765799649059772,
            0.02855648659169674,
            -0.021311679854989052
        ],
        "forward_vector": [
            -0.9884639382362366,
            -0.1512637734413147,
            -0.007645412348210812
        ],
        "right_vector": [
            0.15126867592334747,
            -0.9884927272796631,
            -6.428779306588694e-05
        ],
        "location": [
            2858.831298828125,
            4240.88427734375,
            360.21478271484375
        ],
        "rotation": [
            0.003683527000248432,
            -0.4380541443824768,
            -171.29957580566406
        ],
        "velocity": [
            -0.07650832831859589,
            -0.011206414550542831,
            -0.0018558691954240203
        ],
        "speed": 0.07732469223465865,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.706126689910889,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -9.022653102874756e-06,
                1.2838262591685634e-05,
                -9.40086756600067e-05
            ],
            "speed_kmh": 0.00034311343634049296,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035970687866211,
                "transform": {
                    "location": {
                        "x": 2906.87939453125,
                        "y": 4258.60693359375,
                        "z": 360.5700378417969
                    },
                    "rotation": {
                        "roll": 0.0006819551927037537,
                        "pitch": 0.40366417169570923,
                        "yaw": 9.216886520385742
                    }
                },
                "velocity": {
                    "x": 7.932322978973389,
                    "y": 1.285271167755127,
                    "z": 0.05619332194328308
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045477867126465,
                "transform": {
                    "location": {
                        "x": 2906.88623046875,
                        "y": 4255.3173828125,
                        "z": 360.56475830078125
                    },
                    "rotation": {
                        "roll": 0.0006695952615700662,
                        "pitch": 0.40331581234931946,
                        "yaw": 9.208139419555664
                    }
                },
                "velocity": {
                    "x": 7.941990852355957,
                    "y": 1.2850452661514282,
                    "z": 0.05622025206685066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.832876682281494,
                "transform": {
                    "location": {
                        "x": 2923.764892578125,
                        "y": 4251.32177734375,
                        "z": 360.6814270019531
                    },
                    "rotation": {
                        "roll": -0.004394532181322575,
                        "pitch": -0.15680064260959625,
                        "yaw": -170.3292999267578
                    }
                },
                "velocity": {
                    "x": -6.7353105545043945,
                    "y": -1.1494876146316528,
                    "z": -0.04974443465471268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.962634265422821,
                "transform": {
                    "location": {
                        "x": 2875.26171875,
                        "y": 4246.70556640625,
                        "z": 360.3373718261719
                    },
                    "rotation": {
                        "roll": -0.0006713882903568447,
                        "pitch": -0.38876068592071533,
                        "yaw": -170.70852661132812
                    }
                },
                "velocity": {
                    "x": -0.9502690434455872,
                    "y": -0.15367069840431213,
                    "z": -0.006227388046681881
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.694942474365234,
                "transform": {
                    "location": {
                        "x": 2882.321533203125,
                        "y": 4244.5546875,
                        "z": 360.37799072265625
                    },
                    "rotation": {
                        "roll": 0.00014007733261678368,
                        "pitch": -0.48947182297706604,
                        "yaw": -170.7966766357422
                    }
                },
                "velocity": {
                    "x": -9.570287704467773,
                    "y": -1.5482696294784546,
                    "z": -0.0660020262002945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6226663976558484e-05,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.0016174386255443096,
                        "pitch": -0.42565736174583435,
                        "yaw": -170.57252502441406
                    }
                },
                "velocity": {
                    "x": -3.2347440992452903e-06,
                    "y": -2.3190239517134614e-05,
                    "z": 1.1814699973911047e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.530928946333006e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -9.022653102874756e-06,
                    "y": 1.2838262591685634e-05,
                    "z": -9.40086756600067e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006695037009194493,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006683348678052425,
                        "pitch": -0.434850811958313,
                        "yaw": -169.83944702148438
                    }
                },
                "velocity": {
                    "x": -2.1085143089294434e-05,
                    "y": -2.0955269064870663e-05,
                    "z": 0.000668843393214047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00028056473820470273,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0014343324583023787,
                        "pitch": -0.44280797243118286,
                        "yaw": -170.7847137451172
                    }
                },
                "velocity": {
                    "x": -7.469207048416138e-07,
                    "y": -3.323243436170742e-05,
                    "z": -0.000278588617220521
                },
                "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": 0.04836946353316307,
        "expert_target_speed": 0.0,
        "target_point": [
            10.174191838891185,
            0.11611709391315261
        ],
        "target_point_next": [
            10.174191838891185,
            0.11611709391315261
        ]
    },
    "745": {
        "acceleration": [
            0.17628982663154602,
            0.024188756942749023,
            0.003884697798639536
        ],
        "angular_velocity": [
            0.006876747589558363,
            -0.028367120772600174,
            0.02127285860478878
        ],
        "forward_vector": [
            -0.9884681701660156,
            -0.15123522281646729,
            -0.007657571695744991
        ],
        "right_vector": [
            0.15124022960662842,
            -0.9884970784187317,
            -7.528782589361072e-05
        ],
        "location": [
            2858.813720703125,
            4240.88232421875,
            360.2146301269531
        ],
        "rotation": [
            0.004313800949603319,
            -0.43875083327293396,
            -171.3012237548828
        ],
        "velocity": [
            -0.06402556598186493,
            -0.009714189916849136,
            -0.0013303565792739391
        ],
        "speed": 0.06475830900385489,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.688486099243164,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.2358725143712945e-05,
                9.585637599229813e-06,
                -0.00029887884738855064
            ],
            "speed_kmh": 0.0010774360843473013,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036033630371094,
                "transform": {
                    "location": {
                        "x": 2908.862548828125,
                        "y": 4258.92822265625,
                        "z": 360.5841064453125
                    },
                    "rotation": {
                        "roll": 7.010123954387382e-05,
                        "pitch": 0.4059181213378906,
                        "yaw": 9.188355445861816
                    }
                },
                "velocity": {
                    "x": 7.932424068450928,
                    "y": 1.2850204706192017,
                    "z": 0.05664055794477463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046723365783691,
                "transform": {
                    "location": {
                        "x": 2908.871826171875,
                        "y": 4255.63818359375,
                        "z": 360.5788269042969
                    },
                    "rotation": {
                        "roll": -0.0005798334605060518,
                        "pitch": 0.40505069494247437,
                        "yaw": 9.174500465393066
                    }
                },
                "velocity": {
                    "x": 7.9431962966918945,
                    "y": 1.2853842973709106,
                    "z": 0.056394584476947784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085184097290039,
                "transform": {
                    "location": {
                        "x": 2921.934326171875,
                        "y": 4251.0087890625,
                        "z": 360.66802978515625
                    },
                    "rotation": {
                        "roll": -0.0027465822640806437,
                        "pitch": -0.1615886092185974,
                        "yaw": -170.35922241210938
                    }
                },
                "velocity": {
                    "x": -7.969874858856201,
                    "y": -1.3594082593917847,
                    "z": -0.057565025985240936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7058855295181274,
                "transform": {
                    "location": {
                        "x": 2874.9306640625,
                        "y": 4246.6513671875,
                        "z": 360.33489990234375
                    },
                    "rotation": {
                        "roll": 0.000659394368994981,
                        "pitch": -0.37753185629844666,
                        "yaw": -170.744140625
                    }
                },
                "velocity": {
                    "x": -1.6838734149932861,
                    "y": -0.27293846011161804,
                    "z": -0.010976857505738735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.874816417694092,
                "transform": {
                    "location": {
                        "x": 2880.124267578125,
                        "y": 4244.19873046875,
                        "z": 360.3629455566406
                    },
                    "rotation": {
                        "roll": 0.0005588837084360421,
                        "pitch": -0.5110483765602112,
                        "yaw": -170.81051635742188
                    }
                },
                "velocity": {
                    "x": -7.773331165313721,
                    "y": -1.2589839696884155,
                    "z": -0.054929468780756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00025416657445020974,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -2.639099875523243e-05,
                    "y": 1.6895570297492668e-05,
                    "z": 0.00025222747353836894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029928781441412866,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -1.2358725143712945e-05,
                    "y": 9.585637599229813e-06,
                    "z": -0.00029887884738855064
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011202080640941858,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007110595237463713,
                        "pitch": -0.43459808826446533,
                        "yaw": -169.83950805664062
                    }
                },
                "velocity": {
                    "x": -6.50376068733749e-06,
                    "y": -2.632720315887127e-05,
                    "z": 0.0011198797728866339
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004534364852588624,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0006713896291330457,
                        "pitch": -0.44305387139320374,
                        "yaw": -170.78480529785156
                    }
                },
                "velocity": {
                    "x": -1.1454671039246023e-05,
                    "y": 6.669924187008291e-05,
                    "z": 0.00044835772132501006
                },
                "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": 0.05055069178342819,
        "expert_target_speed": 0.0,
        "target_point": [
            10.15651719651282,
            0.1171360286218952
        ],
        "target_point_next": [
            10.15651719651282,
            0.1171360286218952
        ]
    },
    "750": {
        "acceleration": [
            -0.13159528374671936,
            -0.01591639593243599,
            -0.005744933150708675
        ],
        "angular_velocity": [
            -0.014295458793640137,
            0.03513329103589058,
            -0.019657336175441742
        ],
        "forward_vector": [
            -0.9884715676307678,
            -0.15121500194072723,
            -0.007619664538651705
        ],
        "right_vector": [
            0.1512199193239212,
            -0.98850017786026,
            -7.008562533883378e-05
        ],
        "location": [
            2858.796142578125,
            4240.88037109375,
            360.2145080566406
        ],
        "rotation": [
            0.004015727434307337,
            -0.4365788400173187,
            -171.30239868164062
        ],
        "velocity": [
            -0.07372347265481949,
            -0.010995292104780674,
            -0.00216020573861897
        ],
        "speed": 0.0745388950062675,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.670845985412598,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.7834603568189777e-05,
                4.035063102492131e-05,
                3.035894042113796e-05
            ],
            "speed_kmh": 0.00019279039541847756,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035179138183594,
                "transform": {
                    "location": {
                        "x": 2910.845458984375,
                        "y": 4259.24951171875,
                        "z": 360.59820556640625
                    },
                    "rotation": {
                        "roll": 5.7064204156631604e-05,
                        "pitch": 0.4077076315879822,
                        "yaw": 9.214125633239746
                    }
                },
                "velocity": {
                    "x": 7.9315948486328125,
                    "y": 1.2848281860351562,
                    "z": 0.05593617260456085
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044944763183594,
                "transform": {
                    "location": {
                        "x": 2910.857421875,
                        "y": 4255.95947265625,
                        "z": 360.5929260253906
                    },
                    "rotation": {
                        "roll": 0.00033907342003658414,
                        "pitch": 0.4072226881980896,
                        "yaw": 9.206232070922852
                    }
                },
                "velocity": {
                    "x": 7.941554546356201,
                    "y": 1.2843906879425049,
                    "z": 0.05640074610710144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.786116600036621,
                "transform": {
                    "location": {
                        "x": 2919.709228515625,
                        "y": 4250.634765625,
                        "z": 360.6508483886719
                    },
                    "rotation": {
                        "roll": 0.016229379922151566,
                        "pitch": -0.01800437830388546,
                        "yaw": -170.48135375976562
                    }
                },
                "velocity": {
                    "x": -9.652474403381348,
                    "y": -1.6102569103240967,
                    "z": -0.06988053023815155
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0341796875,
                "transform": {
                    "location": {
                        "x": 2874.426513671875,
                        "y": 4246.56982421875,
                        "z": 360.33148193359375
                    },
                    "rotation": {
                        "roll": 1.0158801160287112e-05,
                        "pitch": -0.3849767744541168,
                        "yaw": -170.7588653564453
                    }
                },
                "velocity": {
                    "x": -2.0079965591430664,
                    "y": -0.3250369131565094,
                    "z": -0.013725719414651394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.141879558563232,
                "transform": {
                    "location": {
                        "x": 2878.412841796875,
                        "y": 4243.92236328125,
                        "z": 360.3510437011719
                    },
                    "rotation": {
                        "roll": 0.0008833173778839409,
                        "pitch": -0.5122095346450806,
                        "yaw": -170.80007934570312
                    }
                },
                "velocity": {
                    "x": -6.063012599945068,
                    "y": -0.9801580309867859,
                    "z": -0.043076157569885254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00040169988642446697,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": 4.8321780923288316e-05,
                    "y": 1.778313816203081e-07,
                    "z": -0.00039878286770544946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3552885219687596e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -1.7834603568189777e-05,
                    "y": 4.035063102492131e-05,
                    "z": 3.035894042113796e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012727767461910844,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.0060424767434597015,
                        "pitch": -0.4350557029247284,
                        "yaw": -169.83950805664062
                    }
                },
                "velocity": {
                    "x": -2.899780884035863e-05,
                    "y": -1.2429505659383722e-05,
                    "z": 0.0012723857071250677
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.346149115823209e-05,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0010681191924959421,
                        "pitch": -0.4423845112323761,
                        "yaw": -170.78482055664062
                    }
                },
                "velocity": {
                    "x": 1.0300948815711308e-05,
                    "y": -6.794468936277553e-05,
                    "z": 4.736274422612041e-05
                },
                "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": 0.04955862835049629,
        "expert_target_speed": 0.0,
        "target_point": [
            10.13884351792309,
            0.11806692968633992
        ],
        "target_point_next": [
            10.13884351792309,
            0.11806692968633992
        ]
    },
    "755": {
        "acceleration": [
            0.13557672500610352,
            0.011812243610620499,
            -0.011098289862275124
        ],
        "angular_velocity": [
            0.0032700870651751757,
            -0.022264601662755013,
            -0.023551806807518005
        ],
        "forward_vector": [
            -0.9884788990020752,
            -0.15116789937019348,
            -0.007607028819620609
        ],
        "right_vector": [
            0.15117278695106506,
            -0.9885073900222778,
            -6.886256596772e-05
        ],
        "location": [
            2858.778564453125,
            4240.87841796875,
            360.21435546875
        ],
        "rotation": [
            0.003945648670196533,
            -0.43585485219955444,
            -171.3051300048828
        ],
        "velocity": [
            -0.06966827064752579,
            -0.01069851964712143,
            -0.00205510132946074
        ],
        "speed": 0.07048493638825779,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.6532063484191895,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.409761534887366e-05,
                -2.209460262747598e-06,
                6.916807615198195e-05
            ],
            "speed_kmh": 0.0002542488940455791,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036417007446289,
                "transform": {
                    "location": {
                        "x": 2912.82861328125,
                        "y": 4259.5703125,
                        "z": 360.6123352050781
                    },
                    "rotation": {
                        "roll": -0.0010986344423145056,
                        "pitch": 0.4081106185913086,
                        "yaw": 9.191901206970215
                    }
                },
                "velocity": {
                    "x": 7.932746887207031,
                    "y": 1.2854275703430176,
                    "z": 0.05655017867684364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046279907226562,
                "transform": {
                    "location": {
                        "x": 2912.843017578125,
                        "y": 4256.2802734375,
                        "z": 360.6070861816406
                    },
                    "rotation": {
                        "roll": -0.001159663894213736,
                        "pitch": 0.4070587754249573,
                        "yaw": 9.177084922790527
                    }
                },
                "velocity": {
                    "x": 7.942741394042969,
                    "y": 1.2854009866714478,
                    "z": 0.05677425116300583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.546607971191406,
                "transform": {
                    "location": {
                        "x": 2917.240966796875,
                        "y": 4250.22314453125,
                        "z": 360.6343994140625
                    },
                    "rotation": {
                        "roll": 0.00570084759965539,
                        "pitch": -0.19482430815696716,
                        "yaw": -170.5770721435547
                    }
                },
                "velocity": {
                    "x": -10.404008865356445,
                    "y": -1.7268519401550293,
                    "z": -0.07434505969285965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3354422450065613,
                "transform": {
                    "location": {
                        "x": 2874.27734375,
                        "y": 4246.54541015625,
                        "z": 360.3307189941406
                    },
                    "rotation": {
                        "roll": -0.001495359349064529,
                        "pitch": -0.42691412568092346,
                        "yaw": -170.75018310546875
                    }
                },
                "velocity": {
                    "x": -0.331143856048584,
                    "y": -0.05348353087902069,
                    "z": -0.002183523029088974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5152690410614014,
                "transform": {
                    "location": {
                        "x": 2877.343017578125,
                        "y": 4243.75390625,
                        "z": 360.3447265625
                    },
                    "rotation": {
                        "roll": -0.009429926052689552,
                        "pitch": -0.6675143241882324,
                        "yaw": -169.87979125976562
                    }
                },
                "velocity": {
                    "x": -1.4970676898956299,
                    "y": -0.23392681777477264,
                    "z": -0.01033692341297865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.466235062252963e-05,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -1.2138933016103692e-05,
                    "y": -5.160849468666129e-06,
                    "z": -6.4028477027022745e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.062469376251101e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -1.409761534887366e-05,
                    "y": -2.209460262747598e-06,
                    "z": 6.916807615198195e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004993410548195243,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006195070222020149,
                        "pitch": -0.4349942207336426,
                        "yaw": -169.8395233154297
                    }
                },
                "velocity": {
                    "x": -2.1919235223322175e-05,
                    "y": -3.4338793284405256e-06,
                    "z": 0.0004988479195162654
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005790365394204855,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0018920921720564365,
                        "pitch": -0.4425962269306183,
                        "yaw": -170.78482055664062
                    }
                },
                "velocity": {
                    "x": -5.4443553381133825e-05,
                    "y": 1.825863182602916e-05,
                    "z": 0.0005761821521446109
                },
                "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": 0.05411875620484352,
        "expert_target_speed": 0.0,
        "target_point": [
            10.121166511206226,
            0.11927703953591573
        ],
        "target_point_next": [
            10.121166511206226,
            0.11927703953591573
        ]
    },
    "760": {
        "acceleration": [
            -0.16119971871376038,
            -0.017461758106946945,
            -0.006821251008659601
        ],
        "angular_velocity": [
            -0.05047466978430748,
            0.004322035238146782,
            -0.03332347050309181
        ],
        "forward_vector": [
            -0.9884844422340393,
            -0.15113183856010437,
            -0.00759951863437891
        ],
        "right_vector": [
            0.15113674104213715,
            -0.9885128736495972,
            -7.042912329779938e-05
        ],
        "location": [
            2858.760009765625,
            4240.87548828125,
            360.2142028808594
        ],
        "rotation": [
            0.004035407677292824,
            -0.4354245364665985,
            -171.30722045898438
        ],
        "velocity": [
            -0.07852904498577118,
            -0.01173742488026619,
            -0.002008686074987054
        ],
        "speed": 0.07940137309390288,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.63442850112915,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -3.2976866350509226e-05,
                1.2170020454504993e-05,
                -0.00010683969594538212
            ],
            "speed_kmh": 0.00040490484869233043,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035444259643555,
                "transform": {
                    "location": {
                        "x": 2914.8115234375,
                        "y": 4259.89111328125,
                        "z": 360.6265563964844
                    },
                    "rotation": {
                        "roll": 0.0005294065340422094,
                        "pitch": 0.41016650199890137,
                        "yaw": 9.20787525177002
                    }
                },
                "velocity": {
                    "x": 7.932008266448975,
                    "y": 1.2839103937149048,
                    "z": 0.0564400851726532
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044820785522461,
                "transform": {
                    "location": {
                        "x": 2914.828369140625,
                        "y": 4256.6015625,
                        "z": 360.62127685546875
                    },
                    "rotation": {
                        "roll": -0.00036620820173993707,
                        "pitch": 0.4091761112213135,
                        "yaw": 9.210592269897461
                    }
                },
                "velocity": {
                    "x": 7.941197395324707,
                    "y": 1.2858232259750366,
                    "z": 0.0564974881708622
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.57209300994873,
                "transform": {
                    "location": {
                        "x": 2914.50341796875,
                        "y": 4249.77099609375,
                        "z": 360.61468505859375
                    },
                    "rotation": {
                        "roll": 0.01228011678904295,
                        "pitch": -0.18313102424144745,
                        "yaw": -170.66197204589844
                    }
                },
                "velocity": {
                    "x": -11.419119834899902,
                    "y": -1.8736025094985962,
                    "z": -0.0814436823129654
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1067121028900146,
                "transform": {
                    "location": {
                        "x": 2874.0927734375,
                        "y": 4246.515625,
                        "z": 360.3291015625
                    },
                    "rotation": {
                        "roll": -0.00030517764389514923,
                        "pitch": -0.3868345618247986,
                        "yaw": -170.7473907470703
                    }
                },
                "velocity": {
                    "x": -1.0924859046936035,
                    "y": -0.17671196162700653,
                    "z": -0.007697248365730047
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4744559526443481,
                "transform": {
                    "location": {
                        "x": 2877.03076171875,
                        "y": 4243.7041015625,
                        "z": 360.3412170410156
                    },
                    "rotation": {
                        "roll": -0.007446294650435448,
                        "pitch": -0.4898679852485657,
                        "yaw": -169.9332733154297
                    }
                },
                "velocity": {
                    "x": -1.4553828239440918,
                    "y": -0.2361687868833542,
                    "z": -0.010277451947331429
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017533644859213382,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -1.6242116544162855e-05,
                    "y": -1.0967766684188973e-05,
                    "z": 0.00017423767712898552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011247357178945094,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -3.2976866350509226e-05,
                    "y": 1.2170020454504993e-05,
                    "z": -0.00010683969594538212
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014918161323294044,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006195070222020149,
                        "pitch": -0.4349942207336426,
                        "yaw": -169.8395233154297
                    }
                },
                "velocity": {
                    "x": -2.0227207642165013e-05,
                    "y": -2.6029460059362464e-05,
                    "z": 0.0014914518687874079
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020415466860868037,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0016784688923507929,
                        "pitch": -0.44250744581222534,
                        "yaw": -170.7848358154297
                    }
                },
                "velocity": {
                    "x": -1.83619556537451e-06,
                    "y": -6.485276389867067e-05,
                    "z": 0.00019357136625330895
                },
                "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": 0.05152502283453941,
        "expert_target_speed": 0.0,
        "target_point": [
            10.102377794261931,
            0.11955690567304833
        ],
        "target_point_next": [
            10.102377794261931,
            0.11955690567304833
        ]
    },
    "765": {
        "acceleration": [
            0.2168668806552887,
            0.029757432639598846,
            0.010443685576319695
        ],
        "angular_velocity": [
            -0.004364997614175081,
            -0.05236058682203293,
            -0.01163233071565628
        ],
        "forward_vector": [
            -0.9884902834892273,
            -0.15109318494796753,
            -0.007607505191117525
        ],
        "right_vector": [
            0.1510980725288391,
            -0.9885187745094299,
            -6.927469075890258e-05
        ],
        "location": [
            2858.740966796875,
            4240.87255859375,
            360.2140808105469
        ],
        "rotation": [
            0.003969261888414621,
            -0.4358821511268616,
            -171.30946350097656
        ],
        "velocity": [
            -0.0722561925649643,
            -0.010950268246233463,
            -0.0013786792987957597
        ],
        "speed": 0.07308122699195513,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.615170955657959,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.0931416909443215e-05,
                -6.830990059825126e-06,
                -0.00028218733496032655
            ],
            "speed_kmh": 0.0010169337343478321,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03626823425293,
                "transform": {
                    "location": {
                        "x": 2916.794921875,
                        "y": 4260.2119140625,
                        "z": 360.64080810546875
                    },
                    "rotation": {
                        "roll": 0.0009651827276684344,
                        "pitch": 0.412413626909256,
                        "yaw": 9.174649238586426
                    }
                },
                "velocity": {
                    "x": 7.932947635650635,
                    "y": 1.2832316160202026,
                    "z": 0.05708451196551323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04572582244873,
                "transform": {
                    "location": {
                        "x": 2916.81396484375,
                        "y": 4256.92333984375,
                        "z": 360.6355895996094
                    },
                    "rotation": {
                        "roll": -9.155290899798274e-05,
                        "pitch": 0.4116145074367523,
                        "yaw": 9.180173873901367
                    }
                },
                "velocity": {
                    "x": 7.942281246185303,
                    "y": 1.2847760915756226,
                    "z": 0.05678502097725868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.458270072937012,
                "transform": {
                    "location": {
                        "x": 2911.53466796875,
                        "y": 4249.28466796875,
                        "z": 360.5936279296875
                    },
                    "rotation": {
                        "roll": 0.01022225059568882,
                        "pitch": -0.19473551213741302,
                        "yaw": -170.74671936035156
                    }
                },
                "velocity": {
                    "x": -12.29582691192627,
                    "y": -2.0033774375915527,
                    "z": -0.0872584730386734
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8783241510391235,
                "transform": {
                    "location": {
                        "x": 2873.718994140625,
                        "y": 4246.455078125,
                        "z": 360.3264465332031
                    },
                    "rotation": {
                        "roll": 0.000299884588457644,
                        "pitch": -0.3802776038646698,
                        "yaw": -170.7662353515625
                    }
                },
                "velocity": {
                    "x": -1.8541921377182007,
                    "y": -0.2998521625995636,
                    "z": -0.012719802558422089
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.870079278945923,
                "transform": {
                    "location": {
                        "x": 2876.479248046875,
                        "y": 4243.61279296875,
                        "z": 360.33624267578125
                    },
                    "rotation": {
                        "roll": -0.00103759637568146,
                        "pitch": -0.33780065178871155,
                        "yaw": -170.17410278320312
                    }
                },
                "velocity": {
                    "x": -2.83298397064209,
                    "y": -0.45954230427742004,
                    "z": -0.01946888491511345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.142976053524762e-05,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -1.2638270163733978e-05,
                    "y": -8.507166057825089e-06,
                    "z": 5.9510650316951796e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002824816037900746,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -1.0931416909443215e-05,
                    "y": -6.830990059825126e-06,
                    "z": -0.00028218733496032655
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00065159349469468,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.006195070222020149,
                        "pitch": -0.4349942207336426,
                        "yaw": -169.8395233154297
                    }
                },
                "velocity": {
                    "x": -2.3420750949298963e-05,
                    "y": -1.908026206365321e-05,
                    "z": 0.0006508928490802646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00042492279317229986,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0013427723897621036,
                        "pitch": -0.4424118101596832,
                        "yaw": -170.78485107421875
                    }
                },
                "velocity": {
                    "x": 2.3717953808954917e-05,
                    "y": -8.104676453513093e-06,
                    "z": 0.0004241829155944288
                },
                "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": 0.05291104316711426,
        "expert_target_speed": 0.0,
        "target_point": [
            10.083106052291775,
            0.11993801955759342
        ],
        "target_point_next": [
            10.083106052291775,
            0.11993801955759342
        ]
    },
    "770": {
        "acceleration": [
            -0.2140308916568756,
            -0.03263616934418678,
            -0.002303884830325842
        ],
        "angular_velocity": [
            0.018918780609965324,
            0.06130492687225342,
            -0.019303862005472183
        ],
        "forward_vector": [
            -0.9884949922561646,
            -0.15106157958507538,
            -0.0076176379807293415
        ],
        "right_vector": [
            0.15106657147407532,
            -0.988523542881012,
            -8.022429392440245e-05
        ],
        "location": [
            2858.720947265625,
            4240.86962890625,
            360.21392822265625
        ],
        "rotation": [
            0.004596646875143051,
            -0.43646273016929626,
            -171.31129455566406
        ],
        "velocity": [
            -0.08200931549072266,
            -0.012307700701057911,
            -0.001358795096166432
        ],
        "speed": 0.08292772349343557,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.5949530601501465,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -2.6152505597565323e-05,
                -1.8335860659135506e-05,
                4.6420049329753965e-05
            ],
            "speed_kmh": 0.00020284900532501136,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03495979309082,
                "transform": {
                    "location": {
                        "x": 2918.77783203125,
                        "y": 4260.53173828125,
                        "z": 360.6551818847656
                    },
                    "rotation": {
                        "roll": 0.00016429902461823076,
                        "pitch": 0.41456514596939087,
                        "yaw": 9.207823753356934
                    }
                },
                "velocity": {
                    "x": 7.931314468383789,
                    "y": 1.2851471900939941,
                    "z": 0.05681655928492546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044824600219727,
                "transform": {
                    "location": {
                        "x": 2918.799560546875,
                        "y": 4257.24462890625,
                        "z": 360.64990234375
                    },
                    "rotation": {
                        "roll": 0.0015952372923493385,
                        "pitch": 0.41242045164108276,
                        "yaw": 9.208212852478027
                    }
                },
                "velocity": {
                    "x": 7.941357135772705,
                    "y": 1.2848328351974487,
                    "z": 0.05707286670804024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.385721206665039,
                "transform": {
                    "location": {
                        "x": 2908.341796875,
                        "y": 4248.765625,
                        "z": 360.5709228515625
                    },
                    "rotation": {
                        "roll": 0.005173274781554937,
                        "pitch": -0.19693483412265778,
                        "yaw": -170.7917022705078
                    }
                },
                "velocity": {
                    "x": -13.21242904663086,
                    "y": -2.14492130279541,
                    "z": -0.09255717694759369
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8944438695907593,
                "transform": {
                    "location": {
                        "x": 2873.210205078125,
                        "y": 4246.37255859375,
                        "z": 360.322998046875
                    },
                    "rotation": {
                        "roll": -0.000274661579169333,
                        "pitch": -0.39776286482810974,
                        "yaw": -170.77688598632812
                    }
                },
                "velocity": {
                    "x": -1.8701013326644897,
                    "y": -0.3024226129055023,
                    "z": -0.013392314314842224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.997509717941284,
                "transform": {
                    "location": {
                        "x": 2875.787353515625,
                        "y": 4243.48486328125,
                        "z": 360.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006649825721979141,
                        "pitch": -0.3806191086769104,
                        "yaw": -171.88308715820312
                    }
                },
                "velocity": {
                    "x": -2.957092761993408,
                    "y": -0.4901450574398041,
                    "z": -0.020633883774280548
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.594021058641374e-05,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -1.2995749784749933e-05,
                    "y": 9.343986675958149e-06,
                    "z": 5.360137583920732e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.634694389300421e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 4.732577053800924e-06,
                        "pitch": -0.4356977343559265,
                        "yaw": -170.73016357421875
                    }
                },
                "velocity": {
                    "x": -2.6152505597565323e-05,
                    "y": -1.8335860659135506e-05,
                    "z": 4.6420049329753965e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000577799160964787,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.00823974609375,
                        "pitch": -0.4348166584968567,
                        "yaw": -169.83961486816406
                    }
                },
                "velocity": {
                    "x": -1.7618909623706713e-05,
                    "y": -2.4597438823548146e-05,
                    "z": 0.0005770064308308065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006689495057798922,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.001525882282294333,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.78485107421875
                    }
                },
                "velocity": {
                    "x": -2.5945304514607415e-05,
                    "y": -2.974165545310825e-05,
                    "z": 0.0006677841884084046
                },
                "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": 0.05373634025454521,
        "expert_target_speed": 0.0,
        "target_point": [
            10.06286985845076,
            0.12038835220356114
        ],
        "target_point_next": [
            10.06286985845076,
            0.12038835220356114
        ]
    },
    "775": {
        "acceleration": [
            0.20502299070358276,
            0.030171070247888565,
            0.0006256089545786381
        ],
        "angular_velocity": [
            0.009510361589491367,
            -0.04207902029156685,
            -0.016569558531045914
        ],
        "forward_vector": [
            -0.9884985089302063,
            -0.15103726089000702,
            -0.007647439371794462
        ],
        "right_vector": [
            0.1510421186685562,
            -0.9885273575782776,
            -5.628069266094826e-05
        ],
        "location": [
            2858.701904296875,
            4240.86669921875,
            360.2137756347656
        ],
        "rotation": [
            0.0032247405033558607,
            -0.43817028403282166,
            -171.3126983642578
        ],
        "velocity": [
            -0.07028667628765106,
            -0.010597068816423416,
            -0.0015004730084910989
        ],
        "speed": 0.07108104340163461,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.575695037841797,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.8113329133484513e-05,
                -2.011699507420417e-05,
                0.0008288688841275871
            ],
            "speed_kmh": 0.0029855189022720994,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.036466598510742,
                "transform": {
                    "location": {
                        "x": 2920.760986328125,
                        "y": 4260.85302734375,
                        "z": 360.6695556640625
                    },
                    "rotation": {
                        "roll": -0.0006103541818447411,
                        "pitch": 0.41637513041496277,
                        "yaw": 9.190051078796387
                    }
                },
                "velocity": {
                    "x": 7.932804584503174,
                    "y": 1.2853714227676392,
                    "z": 0.05672698840498924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046600341796875,
                "transform": {
                    "location": {
                        "x": 2920.78515625,
                        "y": 4257.56591796875,
                        "z": 360.6642761230469
                    },
                    "rotation": {
                        "roll": -0.00042724155355244875,
                        "pitch": 0.41555550694465637,
                        "yaw": 9.179922103881836
                    }
                },
                "velocity": {
                    "x": 7.942978858947754,
                    "y": 1.2859164476394653,
                    "z": 0.0572596900165081
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.385448455810547,
                "transform": {
                    "location": {
                        "x": 2904.989501953125,
                        "y": 4248.2216796875,
                        "z": 360.5485534667969
                    },
                    "rotation": {
                        "roll": 0.003253332804888487,
                        "pitch": -0.32885992527008057,
                        "yaw": -170.80438232421875
                    }
                },
                "velocity": {
                    "x": -13.212843894958496,
                    "y": -2.1406118869781494,
                    "z": -0.09377702325582504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.004919935017824173,
                "transform": {
                    "location": {
                        "x": 2872.85205078125,
                        "y": 4246.314453125,
                        "z": 360.3207092285156
                    },
                    "rotation": {
                        "roll": 0.00011137399269500747,
                        "pitch": -0.4360392391681671,
                        "yaw": -170.79019165039062
                    }
                },
                "velocity": {
                    "x": -0.004880332853645086,
                    "y": -0.0006225943216122687,
                    "z": -2.2112801161711104e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4458774328231812,
                "transform": {
                    "location": {
                        "x": 2875.18359375,
                        "y": 4243.39501953125,
                        "z": 360.3282775878906
                    },
                    "rotation": {
                        "roll": 0.007274489384144545,
                        "pitch": -0.507571816444397,
                        "yaw": -171.17446899414062
                    }
                },
                "velocity": {
                    "x": -1.428998589515686,
                    "y": -0.22021915018558502,
                    "z": -0.005312719382345676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003238709468860179,
                "transform": {
                    "location": {
                        "x": 2862.924560546875,
                        "y": 4244.70849609375,
                        "z": 360.2541198730469
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.42483773827552795,
                        "yaw": -170.57257080078125
                    }
                },
                "velocity": {
                    "x": -1.6252844943664968e-05,
                    "y": -1.836418050515931e-05,
                    "z": -0.00032294116681441665
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008293107966892421,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 0.0001883926015580073,
                        "pitch": -0.4359777867794037,
                        "yaw": -170.7303466796875
                    }
                },
                "velocity": {
                    "x": -1.8113329133484513e-05,
                    "y": -2.011699507420417e-05,
                    "z": 0.0008288688841275871
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008640632149763405,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007934574037790298,
                        "pitch": -0.43496692180633545,
                        "yaw": -169.8396453857422
                    }
                },
                "velocity": {
                    "x": -1.6027539459173568e-05,
                    "y": -2.095503623422701e-05,
                    "z": 0.0008636603597551584
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009119091555476189,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.001525882282294333,
                        "pitch": -0.44253477454185486,
                        "yaw": -170.78485107421875
                    }
                },
                "velocity": {
                    "x": -4.6077740989858285e-05,
                    "y": -4.575392267724965e-06,
                    "z": 0.0009107327787205577
                },
                "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": 0.053480640053749084,
        "expert_target_speed": 0.0,
        "target_point": [
            10.043599926574402,
            0.12061327122074839
        ],
        "target_point_next": [
            10.043599926574402,
            0.12061327122074839
        ]
    },
    "780": {
        "acceleration": [
            -0.15596717596054077,
            -0.01612931489944458,
            -0.007709884084761143
        ],
        "angular_velocity": [
            -0.03382452204823494,
            0.003969199955463409,
            -0.010101447813212872
        ],
        "forward_vector": [
            -0.9885075092315674,
            -0.15097859501838684,
            -0.007642671000212431
        ],
        "right_vector": [
            0.15098342299461365,
            -0.9885362982749939,
            -5.4401923989644274e-05
        ],
        "location": [
            2858.68310546875,
            4240.86376953125,
            360.2136535644531
        ],
        "rotation": [
            0.0031170917209237814,
            -0.43789705634117126,
            -171.31610107421875
        ],
        "velocity": [
            -0.07846362143754959,
            -0.011574906297028065,
            -0.001859588548541069
        ],
        "speed": 0.07931278802866579,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.556677341461182,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -1.3623237464344129e-05,
                -3.323890211959224e-07,
                1.282700577576179e-05
            ],
            "speed_kmh": 6.737245472750719e-05,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035502433776855,
                "transform": {
                    "location": {
                        "x": 2922.743896484375,
                        "y": 4261.17431640625,
                        "z": 360.6839904785156
                    },
                    "rotation": {
                        "roll": 0.0009107369114644825,
                        "pitch": 0.4159926474094391,
                        "yaw": 9.214463233947754
                    }
                },
                "velocity": {
                    "x": 7.931948661804199,
                    "y": 1.284630298614502,
                    "z": 0.056656256318092346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045035362243652,
                "transform": {
                    "location": {
                        "x": 2922.7705078125,
                        "y": 4257.88720703125,
                        "z": 360.67877197265625
                    },
                    "rotation": {
                        "roll": 0.00022944770171307027,
                        "pitch": 0.41577407717704773,
                        "yaw": 9.207369804382324
                    }
                },
                "velocity": {
                    "x": 7.941595077514648,
                    "y": 1.284686803817749,
                    "z": 0.05696697160601616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.126112937927246,
                "transform": {
                    "location": {
                        "x": 2901.83056640625,
                        "y": 4247.71044921875,
                        "z": 360.5291442871094
                    },
                    "rotation": {
                        "roll": 0.002438795752823353,
                        "pitch": -0.6729443669319153,
                        "yaw": -170.809326171875
                    }
                },
                "velocity": {
                    "x": -11.970070838928223,
                    "y": -1.937273621559143,
                    "z": -0.08355436474084854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016249674081336707,
                "transform": {
                    "location": {
                        "x": 2872.85205078125,
                        "y": 4246.31396484375,
                        "z": 360.3205261230469
                    },
                    "rotation": {
                        "roll": -0.0005493179778568447,
                        "pitch": -0.4190662205219269,
                        "yaw": -170.79022216796875
                    }
                },
                "velocity": {
                    "x": -1.0656788617779966e-05,
                    "y": 0.00014981706044636667,
                    "z": 6.201991345733404e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.153994560241699,
                "transform": {
                    "location": {
                        "x": 2874.590576171875,
                        "y": 4243.30126953125,
                        "z": 360.3230895996094
                    },
                    "rotation": {
                        "roll": 0.00161515804938972,
                        "pitch": -0.34096986055374146,
                        "yaw": -171.0367889404297
                    }
                },
                "velocity": {
                    "x": -3.114398241043091,
                    "y": -0.4977083206176758,
                    "z": -0.02221357263624668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04753824695944786,
                "transform": {
                    "location": {
                        "x": 2862.917724609375,
                        "y": 4244.70654296875,
                        "z": 360.25408935546875
                    },
                    "rotation": {
                        "roll": -0.0010986292036250234,
                        "pitch": -0.41900476813316345,
                        "yaw": -170.56546020507812
                    }
                },
                "velocity": {
                    "x": -0.046867530792951584,
                    "y": -0.007870592176914215,
                    "z": -0.0011718559544533491
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8714570614974946e-05,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": 0.00023282680194824934,
                        "pitch": -0.4359777867794037,
                        "yaw": -170.7304229736328
                    }
                },
                "velocity": {
                    "x": -1.3623237464344129e-05,
                    "y": -3.323890211959224e-07,
                    "z": 1.282700577576179e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003501598839648068,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007934574037790298,
                        "pitch": -0.43496692180633545,
                        "yaw": -169.8396453857422
                    }
                },
                "velocity": {
                    "x": -2.134978785761632e-05,
                    "y": 3.675905099953525e-05,
                    "z": 0.00034757002140395343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012777906376868486,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0010375992860645056,
                        "pitch": -0.4423162043094635,
                        "yaw": -170.7849578857422
                    }
                },
                "velocity": {
                    "x": 1.77481761056697e-05,
                    "y": 3.726173235918395e-05,
                    "z": 0.0012771239271387458
                },
                "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": 0.053962402045726776,
        "expert_target_speed": 0.0,
        "target_point": [
            10.024567119291182,
            0.12114932991799643
        ],
        "target_point_next": [
            10.024567119291182,
            0.12114932991799643
        ]
    },
    "785": {
        "acceleration": [
            0.21424025297164917,
            0.02439286559820175,
            0.00633888179436326
        ],
        "angular_velocity": [
            -0.0030014391522854567,
            -0.04141896590590477,
            0.011903446167707443
        ],
        "forward_vector": [
            -0.9885125756263733,
            -0.15094463527202606,
            -0.0076591214165091515
        ],
        "right_vector": [
            0.15094952285289764,
            -0.9885414838790894,
            -6.0374786698957905e-05
        ],
        "location": [
            2858.6650390625,
            4240.861328125,
            360.2135009765625
        ],
        "rotation": [
            0.0034593220334500074,
            -0.4388396441936493,
            -171.3180694580078
        ],
        "velocity": [
            -0.0656571164727211,
            -0.01009346917271614,
            -0.0014407825656235218
        ],
        "speed": 0.06642842060032013,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 5.538469314575195,
        "front_vehicle_info": {
            "id": 3757,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                2853.22021484375,
                4239.84716796875,
                360.2101135253906
            ],
            "velocity": [
                -2.7593969207373448e-05,
                3.0209477699827403e-05,
                0.0004721442237496376
            ],
            "speed_kmh": 0.0017060893680542106,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3853,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035821914672852,
                "transform": {
                    "location": {
                        "x": 2924.726806640625,
                        "y": 4261.49560546875,
                        "z": 360.6984558105469
                    },
                    "rotation": {
                        "roll": 0.0009793344652280211,
                        "pitch": 0.4193599224090576,
                        "yaw": 9.19014835357666
                    }
                },
                "velocity": {
                    "x": 7.932370662689209,
                    "y": 1.2840038537979126,
                    "z": 0.057149216532707214
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3852,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046248435974121,
                "transform": {
                    "location": {
                        "x": 2924.756103515625,
                        "y": 4258.2080078125,
                        "z": 360.6932678222656
                    },
                    "rotation": {
                        "roll": 0.00019512910512275994,
                        "pitch": 0.416983038187027,
                        "yaw": 9.173056602478027
                    }
                },
                "velocity": {
                    "x": 7.942939281463623,
                    "y": 1.2839829921722412,
                    "z": 0.056714046746492386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3835,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.58837604522705,
                "transform": {
                    "location": {
                        "x": 2899.04052734375,
                        "y": 4247.2587890625,
                        "z": 360.5105895996094
                    },
                    "rotation": {
                        "roll": 0.0012487455969676375,
                        "pitch": -0.7778013944625854,
                        "yaw": -170.81155395507812
                    }
                },
                "velocity": {
                    "x": -10.452221870422363,
                    "y": -1.691009521484375,
                    "z": -0.07243818044662476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3849,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013103151286486536,
                "transform": {
                    "location": {
                        "x": 2872.851806640625,
                        "y": 4246.31396484375,
                        "z": 360.3204345703125
                    },
                    "rotation": {
                        "roll": -0.0012207035906612873,
                        "pitch": -0.40645769238471985,
                        "yaw": -170.7902374267578
                    }
                },
                "velocity": {
                    "x": -1.3128891623637173e-05,
                    "y": 3.3597834772081114e-06,
                    "z": 0.00013032881543040276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3830,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.984121799468994,
                "transform": {
                    "location": {
                        "x": 2873.76611328125,
                        "y": 4243.17919921875,
                        "z": 360.3175354003906
                    },
                    "rotation": {
                        "roll": -0.002288823714479804,
                        "pitch": -0.3910214900970459,
                        "yaw": -169.9940185546875
                    }
                },
                "velocity": {
                    "x": -2.951897144317627,
                    "y": -0.4368342161178589,
                    "z": -0.021503353491425514
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3846,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1429163217544556,
                "transform": {
                    "location": {
                        "x": 2862.759033203125,
                        "y": 4244.6806640625,
                        "z": 360.2529296875
                    },
                    "rotation": {
                        "roll": 0.00030651636188849807,
                        "pitch": -0.2659607231616974,
                        "yaw": -170.61868286132812
                    }
                },
                "velocity": {
                    "x": -1.127960205078125,
                    "y": -0.18411561846733093,
                    "z": -0.008050937205553055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3757,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047391370753757656,
                "transform": {
                    "location": {
                        "x": 2853.22021484375,
                        "y": 4239.84716796875,
                        "z": 360.2101135253906
                    },
                    "rotation": {
                        "roll": -0.00027465957100503147,
                        "pitch": -0.43591630458831787,
                        "yaw": -170.73043823242188
                    }
                },
                "velocity": {
                    "x": -2.7593969207373448e-05,
                    "y": 3.0209477699827403e-05,
                    "z": 0.0004721442237496376
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3845,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011808107374235988,
                "transform": {
                    "location": {
                        "x": 2852.9501953125,
                        "y": 4243.10498046875,
                        "z": 360.16693115234375
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -0.43487128615379333,
                        "yaw": -169.83973693847656
                    }
                },
                "velocity": {
                    "x": -1.9587576389312744e-05,
                    "y": -2.5444309358135797e-05,
                    "z": 0.001180374063551426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3756,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2843.84814453125,
                        "y": 4238.32861328125,
                        "z": 360.10382080078125
                    },
                    "rotation": {
                        "roll": 0.00030435985536314547,
                        "pitch": -0.4547744691371918,
                        "yaw": -170.81338500976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3837,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004163256089668721,
                "transform": {
                    "location": {
                        "x": 2843.10107421875,
                        "y": 4241.5,
                        "z": 360.1003723144531
                    },
                    "rotation": {
                        "roll": -0.0009460460860282183,
                        "pitch": -0.44247329235076904,
                        "yaw": -170.7849578857422
                    }
                },
                "velocity": {
                    "x": 5.959793725196505e-06,
                    "y": -0.00011929202446481213,
                    "z": 0.0003988243988715112
                },
                "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": 0.05365070328116417,
        "expert_target_speed": 0.0,
        "target_point": [
            10.006334974920604,
            0.12181194492911751
        ],
        "target_point_next": [
            10.006334974920604,
            0.12181194492911751
        ]
    }
}